Related papers: Simple synchronization protocols for heterogeneous…
This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…
Synchronization of network-coupled dynamical units is important to a variety of natural and engineered processes including circadian rhythms, cardiac function, neural processing, and power grids. Despite this ubiquity, it remains poorly…
The dynamics of agent-based systems provide a framework to face the complexity of pedestrian-vehicle interactions in future cities, in which the compliance to traffic norms plays a fundamental role. The data of an observation performed at a…
This paper presents a decentralized algorithm for a team of agents to track time-varying fixed points that are the solutions to time-varying convex optimization problems. The algorithm is first-order, and it allows for total asynchrony in…
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of…
The main objective of this paper is to provide an optimized solution and algorithm for the execution of a workflow process by ensuring the data consistency, correctness, completeness among various tasks involved. The solution proposed…
The aim of this paper is to analyze a class of consensus algorithms with finite-time or fixed-time convergence for dynamic networks formed by agents with first-order dynamics. In particular, in the analyzed class a single evaluation of a…
This paper presents a parallelizable variant of the well-known Hierarchical Cooperative A* algorithm (HCA*) for the multi-agent path finding (MAPF) problem. In this variant, all agents initially find their shortest paths disregarding the…
We present a model of synchronization in networks of autonomous agents where the topology changes due to agents motion. We introduce two time scales, one for the topological change and another one for local synchronization. If the former…
Cooperative multi-robot tasks can benefit from heterogeneity in the robots' physical and behavioral traits. In spite of this, traditional Multi-Agent Reinforcement Learning (MARL) frameworks lack the ability to explicitly accommodate policy…
In this paper, we present a distributed estimation setup where local agents estimate their states from relative measurements received from their neighbours. In the case of heterogeneous multi-agent systems, where only relative measurements…
We study asynchronous distributed decision-making for scalable multi-agent bandit submodular maximization. We are motivated by distributed information-gathering tasks in unknown environments and under heterogeneous inter-agent communication…
Multi-agent teaming achieves better performance when there is communication among participating agents allowing them to coordinate their actions for maximizing shared utility. However, when collaborating a team of agents with different…
This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with…
Recent work has shown that decentralized algorithms can deliver superior performance over centralized ones in the context of machine learning. The two approaches, with the main difference residing in their distinct communication patterns,…
We address the synchronization problem in open multi-agent systems (OMAS) containing both cooperative and antagonistic interactions. In these systems, agents can join or leave the network over time, and the interaction structure may evolve…
In this paper, we propose a network-optimization framework for the analysis of multi-agent systems with passive-short agents. We consider the known connection between diffusively-coupled maximally equilibrium-independent passive systems,…
Simultaneous trajectory prediction for multiple heterogeneous traffic participants is essential for the safe and efficient operation of connected automated vehicles under complex driving situations in the real world. The multi-agent…
Hybrid parallelism techniques are essential for efficiently training large language models (LLMs). Nevertheless, current automatic parallel planning frameworks often overlook the simultaneous consideration of node heterogeneity and dynamic…
When musicians perform in an ensemble, synchronizing to a mutual pace is the foundation of their musical interaction. Clock generators, e.g., metronomes, or drum machines, might assist such synchronization, but these means, in general, will…