Related papers: Automatic Generation of Communication Requirements…
This paper studies the formation stabilization problem of asynchronous nonlinear multi-agent systems (MAS) subject to parametric uncertainties, external disturbances and bounded time-varying communication delays. A self-triggered min-max…
We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents subject to individual constraints. In the scheme, we explore…
We propose a reliable intersection control mechanism for strategic autonomous and connected vehicles (agents) in non-cooperative environments. Each agent has access to his/her earliest possible and desired passing times, and reports a…
The AI agent ecosystem has converged on two protocols: the Model Context Protocol (MCP) for tool invocation and Agent-to-Agent (A2A) for single-principal task delegation. Both assume a single controlling principal, meaning one person or…
Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…
This paper investigates the formation control problem of heterogeneous, autonomous agents that communicate over a wireless multiple access channel. Instead of avoiding interference through orthogonal node-to-node transmissions, we exploit…
A challenge in multiagent control systems is to ensure that they are appropriately resilient to communication failures between the various agents. In many common game-theoretic formulations of these types of systems, it is implicitly…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…
Safe longitudinal control is discussed for a connected automated truck traveling behind a preceding connected vehicle. A controller is proposed based on control barrier function theory and predictor feedback for provably safe,…
In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are…
This paper studies how to design a platform to optimally control constrained multi-agent systems with a single coordinator and multiple strategic agents. In our setting, the agents cannot apply control inputs and only the coordinator…
This paper investigates data-driven cooperative output regulation for continuous-time multi-agent systems with unknown network topology. Unlike existing studies that typically assume a known network topology to directly compute controller…
We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…
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 proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
This note investigates how to design topology structures to ensure the controllability of multi-agent networks (MASs) under any selection of leaders. We put forward a concept of perfect controllability, which means that a multi-agent system…
We study the multi-agent safe control problem where agents should avoid collisions to static obstacles and collisions with each other while reaching their goals. Our core idea is to learn the multi-agent control policy jointly with learning…
In this paper we consider the problem of navigation and motion control in an area densely populated with other agents. We propose an algorithm that, without explicit communication and based on the information it has, computes the best…
From autonomous driving to package delivery, ensuring safe yet efficient multi-agent interaction is challenging as the interaction dynamics are influenced by hard-to-model factors such as social norms and contextual cues. Understanding…
This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…