Related papers: Identification of Hessian matrix in distributed gr…
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…
This paper presents an adversary detection mechanism and a resilient control framework for multi-agent systems under spatiotemporal constraints. Safety in multi-agent systems is typically addressed under the assumption that all agents…
A new method to represent and approximate rotation matrices is introduced. The method represents approximations of a rotation matrix $Q$ with linearithmic complexity, i.e. with $\frac{1}{2}n\lg(n)$ rotations over pairs of coordinates,…
As the scale and complexity of multi-agent robotic systems are subject to a continuous increase, this paper considers a class of systems labeled as Very-Large-Scale Multi-Agent Systems (VLMAS) with dimensionality that can scale up to the…
This paper presents the overall design of a multi-agent framework for tuning the performance of an application executing in a distributed environment. The multi-agent framework provides services like resource brokering, analyzing…
The control of a single agent in complex and uncertain multi-agent environments requires careful consideration of the interactions between the agents. In this context, this paper proposes a dual model predictive control (MPC) method using…
With the maturation of differentiable physics, its role in various downstream applications: such as model predictive control, robotic design optimization, and neural PDE solvers, has become increasingly important. However, the derivative…
Resource allocation and scheduling in multi-agent systems present challenges due to complex interactions and decentralization. This survey paper provides a comprehensive analysis of distributed algorithms for addressing the distributed…
Addressing complex cooperative tasks in safety-critical environments poses significant challenges for multi-agent systems, especially under conditions of partial observability. We focus on a dynamic network bridging task, where agents must…
In this paper, we present a learning-based tracking controller based on Gaussian processes (GP) for collision avoidance of multi-agent systems where the agents evolve in the special Euclidean group in the space SE(3). In particular, we use…
Simulation-based optimization using agent-based models is typically carried out under the assumption that the gradient describing the sensitivity of the simulation output to the input cannot be evaluated directly. To still apply…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
We propose a distributed control, in which many identical control agents are deployed for controlling a linear time-invariant plant that has multiple input-output channels. Each control agent can join or leave the control loop during the…
The paper deals with the problem of distributed fault detection and isolation (FDI) for a group of heterogeneous multi-agent systems. The developed formation for the FDI is taken into account as a distributed observer design methodology,…
This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…
This paper studies cooperative control of noncooperative double-integrator multi-agent systems (MASs) with input delay on connected directed graphs in the context of a differential graphical game (DGG). In the distributed DGG, each agent…
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…
We are concerned with a distributed approach to solve multi-cluster games arising in multi-agent systems. In such games, agents are separated into distinct clusters. The agents belonging to the same cluster cooperate with each other to…
Multi-agent path planning is a critical challenge in robotics, requiring agents to navigate complex environments while avoiding collisions and optimizing travel efficiency. This work addresses the limitations of existing approaches by…
The accurate computation of the covariance matrix of fitted model parameters is a somewhat neglected task in Statistics. Algorithms are given for computing accurate covariance matrices derived from computing the Hessian matrix by numerical…