Related papers: Robust Decentralized Navigation of Multi-Agent Sys…
Multi-agent safe systems have become an increasingly important area of study as we can now easily have multiple AI-powered systems operating together. In such settings, we need to ensure the safety of not only each individual agent, but…
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 propose a distributed control algorithm for a multi-agent network whose agents deploy over a cluttered region in accordance with a time-varying coverage density function while avoiding collisions with all obstacles they encounter. Our…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…
This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstructed environments with a more realistic local obstacle…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using…
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other agents in the system are considered as dynamic obstacles with…
Existing decentralized methods for multi-agent motion planning lack formal, infinite-horizon safety guarantees, especially for communication-constrained systems. We present R3R which, to our knowledge, is the first decentralized and…
This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The control architecture uses an augmented state system to…
The imminent integration of autonomous vehicles and mobile robots in urban settings presents a critical safety challenge for future intelligent transportation systems. This paper addresses the complex problem of coordinating heterogeneous…
Avoiding collisions is the core problem in multi-agent navigation. In decentralized settings, when agents have limited communication and sensory capabilities, collisions are typically avoided in a reactive fashion, relying on local…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…
This work views the multi-agent system and its surrounding environment as a co-evolving system, where the behavior of one affects the other. The goal is to take both agent actions and environment configurations as decision variables, and…
For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDAR give no data, the robot must be able to reason about…
In a multi-agent system, agents coordinate to achieve global tasks through local communications. Coordination usually requires sufficient information flow, which is usually depicted by the connectivity of the communication network. In a…
This paper presents a framework for multi-agent navigation in structured but dynamic environments, integrating three key components: a shared semantic map encoding metric and semantic environmental knowledge, a claim policy for coordinating…
In this paper we propose a novel distributed model predictive control (DMPC) based algorithm with a trajectory predictor for a scenario of landing of unmanned aerial vehicles (UAVs) on a moving unmanned surface vehicle (USV). The algorithm…
There are many industrial, commercial and social applications for multi-agent planning for multirotors such as autonomous agriculture, infrastructure inspection and search and rescue. Thus, improving on the state-of-the-art of multi-agent…