Related papers: Stochastic Broadcast Control of Multi-Agent Swarms
We address a problem of area protection in graph-based scenarios with multiple mobile agents where connectivity is maintained among agents to ensure they can communicate. The problem consists of two adversarial teams of agents that move in…
Developing safe human-robot interaction systems is a necessary step towards the widespread integration of autonomous agents in society. A key component of such systems is the ability to reason about the many potential futures (e.g.…
The gathering problem requires a set of mobile agents, arbitrarily positioned at different nodes of a network to group within finite time at the same location, not fixed in advanced. The extensive existing literature on this problem shares…
Natural, social, and artificial multi-agent systems usually operate in dynamic environments, where the ability to respond to changing circumstances is a crucial feature. An effective collective response requires suitable information…
We study a discrete-time consensus model in which agents iteratively update their states through interactions on a dynamic social network. At each step, a single agent is selected asynchronously and averages the values of its current…
The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the…
This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…
The design of control systems for the spatial self-organization of mobile agents is an open challenge across several engineering domains, including swarm robotics and synthetic biology. Here, we propose a bio-inspired leader-follower…
Generative agents have proven to be powerful assistants in a wide variety of contexts. Given this success, users are now deploying agents with minimal restrictions in open ended, multi-agent environments. Current methods for monitoring the…
In this paper, we study a model reduction technique for leader-follower networked multi-agent systems defined on weighted, undirected graphs with arbitrary linear multivariable agent dynamics. In the network graph of this network, nodes…
In this paper we introduce the optimal control of a kinetic model describing agents who migrate on a graph and interact within its nodes exchanging a physical quantity. As a prototype model, we consider the spread of an infectious disease…
In this paper we study the controllability of networked systems with static network topologies using tools from algebraic graph theory. Each agent in the network acts in a decentralized fashion by updating its state in accordance with a…
We study resilient leader-follower consensus of multi-agent systems (MASs) in the presence of adversarial agents, where agents' communication is modeled by time-varying topologies. The objective is to develop distributed algorithms for the…
This paper proposes distributed omniscient observers for both heterogeneous and homogeneous linear multi-agent systems, such that each agent can correctly estimate the states of all agents. The observer design is based on local input-output…
Gathering is a fundamental task for multi-agent systems and the problem has been studied under various assumptions on the sensing capabilities of mobile agents. This paper addresses the problem for a group of agents that are identical and…
In many multi-agent systems of practical interest, such as traffic networks or crowd evacuation, control actions cannot be exerted on all agents. Instead, controllable leaders must indirectly steer uncontrolled followers through local…
In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with non-constant velocity. We initially study a fixed network and show…
In this paper, containment control of multi-agent systems with measurement noises is studied under directed networks. When the leaders are stationary, a stochastic approximation type protocol is employed to solve the containment control of…
In this paper we propose a distributed algorithm for the estimation and control of the connectivity of ad-hoc networks in the presence of a random topology. First, given a generic random graph, we introduce a novel stochastic power…
This paper addresses the problem of distributed control for leader-follower multi-agent systems under prescribed performance guarantees. Leader-follower is meant in the sense that a group of agents with external inputs are selected as…