Related papers: Time-constrained multi-agent task scheduling based…
This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on…
We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective…
With the advent of 21st century and increasing advancements in the field of technology and connectivity, inter-networking in real-time has achieved great importance. Distributed control and multi-agent paradigm has groped rapidly with…
In Reasoning about Action and Planning, one synthesizes the agent plan by taking advantage of the assumption on how the environment works (that is, one exploits the environment's effects, its fairness, its trajectory constraints). In this…
Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…
Qualitative timeline-based planning models domains as sets of independent, but interacting, components whose behaviors over time, the timelines, are governed by sets of qualitative temporal constraints (ordering relations), called…
This work addresses the output consensus problem of constrained heterogeneous multi-agent systems under a switching network with potential communication delays, where outputs are periodic and characterized by an exosystem. Since periodic…
We consider the problem of designing agents able to compute optimal decisions by composing data from multiple sources to tackle tasks involving: (i) tracking a desired behavior while minimizing an agent-specific cost; (ii) satisfying safety…
This paper presents a secure-by-construction planning and control framework for multi-agent systems subject to linear temporal logic (LTL) specifications. The framework protects sensitive information from a passive intruder with partial…
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…
In realistic production scenarios, Advanced Planning and Scheduling (APS) tools often require manual intervention by production planners, as the system works with incomplete information, resulting in suboptimal schedules. Often, the…
It is an amazing fact that remarkably complex behaviors could emerge from a large collection of very rudimentary dynamical agents through very simple local interactions. However, it still remains elusive on how to design these local…
In this paper, a new yet indirect performance guaranteed framework is established to address the distributed tracking control problem for networked uncertain nonlinear strict-feedback systems with unknown time-varying gains under a directed…
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…
We present a heuristic algorithm for solving the problem of scheduling plans of tasks. The plans are ordered vectors of tasks, and tasks are basic operations carried out by resources. Plans are tied by temporal, precedence and resource…
A key operational challenge for call centers is to decide, in real time, which waiting customer should be served by which available agent. This is known as skill-based routing, and the decision becomes especially difficult in large systems…
We consider cooperative multi-agent consensus optimization problems over both static and time-varying communication networks, where only local communications are allowed. The objective is to minimize the sum of agent-specific possibly…
This paper deals with solving distributed optimization problems with equality constraints by a class of uncertain nonlinear heterogeneous dynamic multi-agent systems. It is assumed that each agent with an uncertain dynamic model has limited…
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…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…