Related papers: Distributed Communication-aware Motion Planning fo…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…
Communication is an effective mechanism for coordinating the behaviors of multiple agents, broadening their views of the environment, and to support their collaborations. In the field of multi-agent deep reinforcement learning (MADRL),…
Cyber-Physical Systems~(CPS) consist of collaborative, networked and tightly intertwined computational (logical) and physical components, each operating at different spatial and temporal scales. Hence, the spatial and temporal requirements…
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…
This paper proposes a distributed event-triggered control method that not only guarantees consensus of multi-agent systems but also satisfies a given LQ performance constraint. Taking the standard distributed control scheme with all-time…
This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
This paper presents a novel control strategy for the coordination of a multi-agent system subject to high-level goals expressed as linear temporal logic formulas. In particular, each agent, which is modeled as a sphere with 2nd order…
Communication could potentially be an effective way for multi-agent cooperation. However, information sharing among all agents or in predefined communication architectures that existing methods adopt can be problematic. When there is a…
We propose a distributed planning method with asynchronous execution for multi-agent pickup and delivery (MAPD) problems for environments with occasional delays in agents' activities and flexible endpoints. MAPD is a crucial problem…
In this paper, we design a stochastic Model Predictive Control (MPC) traffic signal control method for an urban traffic network when the uncertainties in the estimation of the exogenous (in/out)-flows and the turning ratios of downstream…
This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
This work proposes multi-agent systems setting for concurrent engineering system design optimization and gradually paves the way towards examining graph theoretic constructs in the context of multidisciplinary design optimization problem.…
The integration of autonomous vehicles into urban traffic has great potential to improve efficiency by reducing congestion and optimizing traffic flow systematically. In this paper, we introduce CoMAL (Collaborative Multi-Agent LLMs), a…
Solving an output consensus problem in multi-agent systems is often hindered by multiple time-variant delays. To address such fundamental problems over time, we present a new optimal time-variant distributed control for linearly perturbed…
In this paper, we propose a learning-based framework to simultaneously learn the communication and distributed control policies for a heterogeneous multi-agent system (MAS) under complex mission requirements from Capability Temporal Logic…
Navigating safely and efficiently in dense and heterogeneous traffic scenarios is challenging for autonomous vehicles (AVs) due to their inability to infer the behaviors or intentions of nearby drivers. In this work, we introduce a…
Routing strategies for traffics and vehicles have been historically studied. However, in the absence of considering drivers' preferences, current route planning algorithms are developed under ideal situations where all drivers are expected…
Communication has been widely employed to enhance multi-agent collaboration. Previous research has typically assumed delay-free communication, a strong assumption that is challenging to meet in practice. However, real-world agents suffer…
The ability to communicate intention enables decentralized multi-agent robots to collaborate while performing physical tasks. In this work, we present spatial intention maps, a new intention representation for multi-agent vision-based deep…