Related papers: Simple synchronization protocols for heterogeneous…
A practical challenge which arises in the operation of sensor networks is the presence of sensor faults, biases, or adversarial attacks, which can lead to significant errors incurring in the localization of the agents, thereby undermining…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
In this paper, we first study the leader-following output synchronization problem for a class of uncertain nonlinear multi-agent systems over jointly connected switching networks. Our approach integrates the output-based adaptive…
This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…
This paper proposes a self-triggered synchronization control method of a general high-order linear time-invariant multi-agent system through a cloud repository. In the cloud-mediated self-triggered control, each agent asynchronously…
This paper concerns with the synchronization of infrastructure impoverished sensor networks under harsh conditions. It suggests three novel asynchronous, decentralized, energyefficient time synchronization protocols. The protocols require…
In this paper, we consider the synchronization of heterogeneous pulse-coupled oscillators (PCOs), where some of the oscillators might be faulty or malicious. The oscillators interact through identical pulses at discrete instants and evolve…
In this paper we consider a heterogeneous network of Haken-Kelso-Bunz (HKB) nonlinear oscillators coupled through both linear and nonlinear interaction protocols. While some work exists on a system made up of only two nonlinearly coupled…
This work presents a decentralized time synchronization algorithm for multi-agent systems. Each agent possesses two clocks, a hardware clock that is perturbed by environmental phenomena (e.g., temperature, humidity, pressure, g forces,…
This paper presents an algorithm for the synchronization of blind agents (agents are unable to observe other agents, i.e. no communication) evolving on a connected Lie group $G$. We employ the method of extremum seeking control for…
Autonomous agents are moving from tools into a layer of social infrastructure: they browse, purchase, deploy software, manage systems, and increasingly interact with one another. As these systems scale, the bottleneck shifts away from raw…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
In this work and the supporting Parts II [2] and III [3], we provide a rather detailed analysis of the stability and performance of asynchronous strategies for solving distributed optimization and adaptation problems over networks. We…
Decentralized multi-agent systems have shown promise in enabling autonomous collaboration among LLM-based agents. While AgentNet demonstrated the feasibility of fully decentralized coordination through dynamic DAG topologies, several…
We consider the problem setting in which multiple autonomous agents must cooperatively navigate and perform tasks in an unknown, communication-constrained environment. Traditional multi-agent reinforcement learning (MARL) approaches assume…
This paper provides an in-depth technical analysis and implementation methodology of the open-source Agent-to-Agent (A2A) protocol developed by Google and the Model Context Protocol (MCP) introduced by Anthropic. While the evolution of…
A system of coupled oscillators on an arbitrary graph is locally driven by the tendency to mutual synchronization between nearby oscillators, but can and often exhibit nonlinear behavior on the whole graph. Understanding such nonlinear…
We study distributed output feedback control for a heterogeneous multi-agent system (MAS), consisting of N different continuous-time linear dynamical systems. For achieving output consensus, a virtual reference model is assumed to generate…
Multi-Agent Pathfinding (MAPF) is the problem of finding paths for multiple agents such that every agent reaches its goal and the agents do not collide. Most prior work on MAPF was on grids, assumed agents' actions have uniform duration,…
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…