Related papers: Distributed Control for Spatial Self-Organization …
In this paper, we discuss a distributed control architecture, aimed at networks with linear and time-invariant dynamics, which is amenable to convex formulations for controller design. The proposed approach is well suited for large scale…
This paper proposes a scalable distributed policy gradient method and proves its convergence to near-optimal solution in multi-agent linear quadratic networked systems. The agents engage within a specified network under local communication…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…
This paper addresses the sweep coverage problem of multi-agent systems in uncertain regions. A new formulation of distributed sweep coverage is proposed to cooperatively complete the workload in the uncertain region. Specifically, each…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
Human-swarm interaction is facilitated by a low-dimensional encoding of the swarm formation, independent of the (possibly large) number of robots. We propose using image moments to encode two-dimensional formations of robots. Each robot…
Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the…
We develop distributed algorithms to allocate resources in multi-hop wireless networks with the aim of minimizing total cost. In order to observe the fundamental duplexing constraint that co-located transmitters and receivers cannot operate…
In this paper, a multi-agent coordination problem with steady-state regulation constraints is investigated for a class of nonlinear systems. Unlike existing leader-following coordination formulations, the reference signal is not given by a…
We present a principled and efficient planning algorithm for collaborative multiagent dynamical systems. All computation, during both the planning and the execution phases, is distributed among the agents; each agent only needs to model and…
The self-organizing behavior of swarms of inter- acting particles or agents is a topic of intense research in fields extending from biology to physics and robotics. In this paper, we carry out a systematic study of how the stable…
We investigate the stability and robustness properties of a continuification-based strategy for the control of large-scale multiagent systems. Within continuation-based strategy, one transforms the microscopic, agent-level description of…
This paper presents an AI-augmented decentralized framework for multi-agent (multi-robot) environmental mapping under limited sensing and communication. While conventional coverage formulations achieve effective spatial allocation when an…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower…
We present a decentralized ergodic control policy for time-varying area coverage problems for multiple agents with nonlinear dynamics. Ergodic control allows us to specify distributions as objectives for area coverage problems for nonlinear…
Inspired by the chemotaxis interaction of living cells, we have developed an agent-based approach for self-organizing shape formation. Since all our simulations begin with a different uniform random configuration and our agents move…
We consider a single-facility location problem, where agents are positioned on the real line and are partitioned into multiple disjoint districts. The goal is to choose a location (where a public facility is to be built) so as to minimize…
In this paper, a distributed optimal steady-state regulation problem is formulated and investigated for heterogeneous linear multi-agent systems subject to external disturbances. We aim to steer this high-order multi-agent network to a…
This paper deals with the distributed $\mathcal{H}_2$ optimal control problem for linear multi-agent systems. In particular, we consider a suboptimal version of the distributed $\mathcal{H}_2$ optimal control problem. Given a linear…