Related papers: On Scalable Supervisory Control of Multi-Agent Dis…
Supervisor localization procedure can be employed to construct local controllers corresponding to component agents in discrete-event systems. The proposed method in [11] is based on state reduction of a monolithic supervisor with respect to…
Multi-agent Markov Decision Processes (MMDPs) arise in a variety of applications including target tracking, control of multi-robot swarms, and multiplayer games. A key challenge in MMDPs occurs when the state and action spaces grow…
This paper presents scalable controller synthesis methods for heterogeneous and partially heterogeneous systems. First, heterogeneous systems composed of different subsystems that are interconnected over a directed graph are considered.…
Supervisor localization procedure can be used to construct local controllers corresponding to each component agent in discrete-event systems. This procedure is based on state reduction of a monolithic supervisor with respect to each set of…
We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…
In this paper we present a layered approach for multi-agent control problem, decomposed into three stages, each building upon the results of the previous one. First, a high-level plan for a coarse abstraction of the system is computed,…
We employ supervisory controllers to safely coordinate high-level discrete(-event) behavior of distributed components of complex systems. Supervisory controllers observe discrete-event system behavior, make a decision on allowed activities,…
Large scale systems are forecasted to greatly impact our future lives thanks to their wide ranging applications including cooperative robotics, mobility on demand, resource allocation, supply chain management. While technological…
Modern supervisory control and data acquisition (SCADA) systems comprise variety of industrial equipment such as physical control processes, logical control systems, communication networks, computers, and communication protocols. They are…
We study the distributed synthesis of policies for multi-agent systems to perform \emph{spatial-temporal} tasks. We formalize the synthesis problem as a \emph{factored} Markov decision process subject to \emph{graph temporal logic}…
This paper presents a framework for multi-agent navigation in structured but dynamic environments, integrating three key components: a shared semantic map encoding metric and semantic environmental knowledge, a claim policy for coordinating…
We present a general emulation-based framework to address the distributed control of multi-agent systems over packet-based networks. We consider the setup where information is only transmitted at (non-uniform) sampling times and where…
A Multi-Agent System is a distributed system where the agents or nodes perform complex functions that cannot be written down in analytic form. Multi-Agent Systems are highly connected, and the information they contain is mostly stored in…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…
Event-triggered communication and control provide high control performance in networked control systems without overloading the communication network. However, most approaches require precise mathematical models of the system dynamics,…
Given a connected region in two-dimensional space where events of a certain kind occur according to a certain time-varying density, we consider the problem of setting up a network of autonomous mobile agents to detect the occurrence of…
We investigate the coordination and control problems of distributed discrete event systems that are composed of multiple subsystems subject to potential actuator and/or sensor faults. We model actuator faults as local controllability loss…
We propose Teamwork Synthesis, a version of the distributed synthesis problem with application to teamwork multi-agent systems. We reformulate the distributed synthesis question by dropping the fixed interaction architecture among agents as…
We study the problem of plan synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…