Related papers: On Scalable Supervisory Control of Multi-Agent Dis…
Modern distributed software systems often operate in dynamic environments in which operation conditions change continuously and subsystems may come and go at will, e.g. intelligent traffic management and multi-robot systems. To manage these…
This paper presents a novel compositional approach to distributed coordination module (CM) synthesis for multiple discrete-event agents in the formal languages and automata framework. The approach is supported by two original ideas. The…
A number of prototypical optimization problems in multi-agent systems (e.g., task allocation and network load-sharing) exhibit a highly local structure: that is, each agent's decision variables are only directly coupled to few other agent's…
SCADA (Supervisory Control and Data Acquisition) is concerned with gathering process information from industrial control processes found in utilities such as power grids, water networks, transportation, manufacturing, etc., to provide the…
This paper proposes a fully data-driven motion-planning framework for homogeneous linear multi-agent systems that operate in shared, obstacle-filled workspaces without access to explicit system models. Each agent independently learns its…
We relate behavior composition, a synthesis task studied in AI, to supervisory control theory from the discrete event systems field. In particular, we show that realizing (i.e., implementing) a target behavior module (e.g., a house…
A stable joint plan should guarantee the achievement of a designer's goal in a multi-agent environment, while ensuring that deviations from the prescribed plan would be detected. We present a computational framework where stable joint plans…
Recently we developed partial-observation supervisor localization, a top-down approach to distributed control of discrete-event systems (DES) under partial observation. Its essence is the decomposition of the partial-observation monolithic…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupled constraints. Each agent has dynamics consisting of two terms: the first one models the coupled constraints and the other one is…
The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One…
We consider the problem of distributing a control policy across a network of interconnected units. Distributing controllers in this way has a number of potential advantages, especially in terms of robustness, as the failure of a single unit…
In recent years, the number and importance of autonomous racing leagues, and consequently the number of studies on them, has been growing. The seamless integration between different series has gained attention due to the scene's diversity.…
In complex, open, and heterogeneous environments, agents must be able to reorganize towards the most appropriate organizations to adapt unpredictable environment changes within Multi-Agent Systems (MAS). Types of reorganization can be seen…
A complex system is made up of many components with many interactions. So the design of systems such as simulation systems, cooperative systems or assistance systems includes a very accurate modelling of interactional and communicational…
Large language models have demonstrated strong capabilities in individual software engineering tasks, yet most autonomous systems still treat issue resolution as a monolithic or pipeline-based process. In contrast, real-world software…
This paper considers the controllability problem for multi-agent systems. In particular, the structural controllability of multi-agent systems under switching topologies is investigated. The structural controllability of multi-agent systems…
Parameter sharing, as an important technique in multi-agent systems, can effectively solve the scalability issue in large-scale agent problems. However, the effectiveness of parameter sharing largely depends on the environment setting. When…
In this paper, we explore a multi-agent reinforcement learning approach to address the design problem of communication and control strategies for multi-agent cooperative transport. Typical end-to-end deep neural network policies may be…
We consider the problem of coordinating a collection of switched subsystems under both local and global constraints for safe operation of the system. Although an invariant set can be leveraged to construct a safety-guaranteed controller for…
We present an algorithm for controlling and scheduling multiple linear time-invariant processes on a shared bandwidth limited communication network using adaptive sampling intervals. The controller is centralized and computes at every…