Related papers: Mode Switching Decentralized Multi-Agent Coordinat…
In this two-part paper, we consider strategic topology switching for the second-order multi-agent systems under a special class of stealthy attacks, namely the "zero-dynamics" attack (ZDA). The main mathematical tool proposed here is to…
The intelligent control of the traffic signal is critical to the optimization of transportation systems. To achieve global optimal traffic efficiency in large-scale road networks, recent works have focused on coordination among…
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…
We present a framework combining hierarchical and multi-agent deep reinforcement learning approaches to solve coordination problems among a multitude of agents using a semi-decentralized model. The framework extends the multi-agent learning…
We consider a multi-agent reinforcement learning problem where each agent seeks to maximize a shared reward while interacting with other agents, and they may or may not be able to communicate. Typically the agents do not have access to…
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…
We consider a networked control system (NCS) consisting of two plants, a global plant and a local plant, and two controllers, a global controller and a local controller. The global (resp. local) plant follows discrete-time stochastically…
Broadcast control is one of decentralized control methods for networked multi-agent systems. In this method, each agent does not communicate with the others, and autonomously determines its own action using only the same signal sent from a…
In this report we provide a decentralized robust control approach, which guarantees that connectivity of a multi-agent network is maintained when certain bounded input terms are added to the control strategy. Our main motivation for this…
This work presents a distributed MPC-based approach to solving the problem of multi-agent point-to-point transition with optimization-based collision avoidance. The problem is formulated, motivated by the work on collision avoidance for…
This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…
In this article, we consider a cooperative control problem involving a heterogeneous network of dynamically decoupled continuous-time linear plants. The (output-feedback) controllers for each plant may communicate with each other according…
Visual navigation tasks are critical for household service robots. As these tasks become increasingly complex, effective communication and collaboration among multiple robots become imperative to ensure successful completion. In recent…
New architectures and algorithms are needed to reflect the mixture of local and global information that is available as multi-agent systems connect over the cloud. We present a novel architecture for multi-agent coordination where the cloud…
A graph theoretic framework recently has been proposed to stabilize interconnected multiagent systems in a distributed fashion, while systematically capturing the architectural aspect of cyber-physical systems with separate agent or…
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…
With the gradual advancement of a novel idea of the distributed control of the multiagent systems, an event-triggered control protocol has received significant research attention, especially in designing the controller for the nonlinear…
A question we can ask of multi-agent systems is whether the agents' collective interaction satisfies particular goals or specifications, which can be either individual or collective. When a collaborative goal is not reached, or a…
A design framework recently has been developed to stabilize interconnected multiagent systems in a distributed manner, and systematically capture the architectural aspect of cyber-physical systems. Such a control theoretic framework,…
Achieving joint objectives by teams of cooperative planning agents requires significant coordination and communication efforts. For a single-agent system facing a plan failure in a dynamic environment, arguably, attempts to repair the…