Related papers: Automatic Generation of Communication Requirements…
In this note, the coordination of linear discrete-time multi-agent systems over digital networks is investigated with unmeasurable states in agents' dynamics. The quantized-observer based communication protocols and Certainty Equivalence…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
In wireless communication-based formation control systems, the control performance is significantly impacted by the channel capacity of each communication link between agents. This relationship, however, remains under-investigated in the…
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…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
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…
The novel idea presented in this paper is to interweave distributed model predictive control with a reliable scheduling of the information that is interchanged between local controllers of the plant subsystems. To this end, a dynamic model…
This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control,…
We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…
We examine the problem of transmission control, i.e., when to transmit, in distributed wireless communications networks through the lens of multi-agent reinforcement learning. Most other works using reinforcement learning to control or…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
This paper investigates the distributed model predictive control for an asynchronous nonlinear multi-agent system with external interference via a self-triggered generator and a prediction horizon regulator. First, a shrinking constraint…
This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to achieve consensus. We investigate the distributed adaptive…
The existing results on controllability of multi-agents networks are mostly based on homogeneous nodes. This paper focuses on controllability of heterogeneous multi-agent networks, where the agents are modeled as two types. One type is that…
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…
Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…
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…
We propose a method that allows to develop shared understanding between two agents for the purpose of performing a task that requires cooperation. Our method focuses on efficiently establishing successful task-oriented communication in an…
This paper investigates the problem of coordinating several agents through their actions. Although the methodology applies to general scenarios, the present work focuses on a situation with an asymmetric observation structure that only…
We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objective function…