Related papers: Distributed Communication-aware Motion Planning fo…
This paper investigates the planning and control problems for multi-robot systems under linear temporal logic (LTL) specifications. In contrast to most of existing literature, which presumes a static and known environment, our study focuses…
This work introduces an integrated approach to optimizing urban traffic by combining predictive modeling of vehicle flow, adaptive traffic signal control, and a modular integration architecture through distributed messaging. Using real-time…
Trajectory planning is a critical process that enables autonomous systems to safely navigate complex environments. Signal temporal logic (STL) specifications are an effective way to encode complex temporally extended objectives for…
Conventional control of fluid systems does not consider system-wide knowledge for optimising energy efficient operation. Distributed control of fluid systems combines reliable local control of components while using system-wide cooperation…
Modern cyber-physical systems (CPS) can consist of various networked components and agents interacting and communicating with each other. In the context of spatially distributed CPS, these connections can be dynamically dependent on the…
Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…
In this paper, we consider networks of static sensors with integrated sensing and communication capabilities. The goal of the sensors is to propagate their collected information to every other agent in the network and possibly a human…
In most multiagent applications, communication is essential among agents to coordinate their actions, and thus achieve their goal. However, communication often has a related cost that affects overall system performance. In this paper, we…
This technical note addresses the distributed fixed-time consensus protocol design problem for multi-agent systems with general linear dynamics over directed communication graphs. By using motion planning approaches, a class of distributed…
Distributed controllers are often necessary for a multi-agent system to satisfy safety properties such as collision avoidance. Communication and coordination are key requirements in the implementation of a distributed control protocol, but…
Reliable forecasting of the future behavior of road agents is a critical component to safe planning in autonomous vehicles. Here, we represent continuous trajectories as sequences of discrete motion tokens and cast multi-agent motion…
Motion planning of an autonomous system with high-level specifications has wide applications. However, research of formal languages involving timed temporal logic is still under investigation. Furthermore, many existing results rely on a…
We propose a framework for the decentralized control of a team of agents that are assigned local tasks expressed as Linear Temporal Logic (LTL) formulas. Each local LTL task specification captures both the requirements on the respective…
This paper addresses a new semantic multi-robot planning problem in uncertain and dynamic environments. Particularly, the environment is occupied with non-cooperative, mobile, uncertain labeled targets. These targets are governed by…
This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals. In particular, we design control protocols that allow the transition of the…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
We investigate the task and motion planning problem for Signal Temporal Logic (STL) specifications in robotics. Existing STL methods rely on pre-defined maps or mobility representations, which are ineffective in unstructured real-world…
With the rapid advancement of vehicular communication facilities and autonomous driving technologies, connected vehicle platooning has emerged as a promising approach to improve traffic efficiency and driving safety. Reliable…
Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…
This paper studies the consensus problem of general linear discrete-time multi-agent systems (MAS) with input constraints and bounded time-varying communication delays. We propose a robust distributed model predictive control (DMPC)…