Related papers: Perfectly Controllable Multi-Agent Networks
This paper addresses the problem of distributed control for leader-follower multi-agent systems under prescribed performance guarantees. Leader-follower is meant in the sense that a group of agents with external inputs are selected as…
This paper presents a unified framework of time-varying formation (TVF) design for general linear multi-agent systems (MAS) based on an observer viewpoint from undirected to directed topology, from stabilization to tracking and from a…
The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…
In this paper, we study the well-posedness and approximate controllability of a class of network systems having delays and controls at the boundary conditions. The particularity of this work is that the network system is defined on infinite…
Multi-agent systems (MAS) leveraging the impressive capabilities of Large Language Models (LLMs) hold significant potential for tackling complex tasks. However, most current MAS depend on manually designed agent roles and communication…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
This work addresses a fundamental problem of controllability of open quantum systems, meaning the ability to steer arbitrary initial system density matrix into any final density matrix. We show that under certain general conditions open…
Multi-agent systems (MAS) increasingly solve complex tasks by orchestrating agents and tools selected from rapidly growing marketplaces. As these marketplaces expand, many candidates become functionally overlapping, making selection not…
The rapid proliferation of large language model (LLM)-based agentic systems raises critical concerns regarding digital sovereignty, environmental sustainability, regulatory compliance, and ethical alignment. Whilst existing frameworks…
Consensusability of multi-agent systems (MASs) certifies the existence of a distributed controller capable of driving the states of each subsystem to a consensus value. We study the consensusability of linear interconnected MASs (LIMASs)…
We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a trad-off: online planners and controllers lack formal safety…
Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…
Limited information availability represents a fundamental challenge for control of multi-agent systems, since an agent often lacks sensing capabilities to measure certain states of its own and can exchange data only with its neighbors. The…
This paper addresses the problem of positive consensus of directed multi-agent systems with observer-type output-feedback protocols. More specifically, directed graph is used to model the communication topology of the multi-agent system and…
This paper presents a novel approach for achieving safe stochastic optimal control in networked multi-agent systems (MASs). The proposed method incorporates barrier states (BaSs) into the system dynamics to embed safety constraints. To…
Efficiently fulfilling coverage tasks in non-convex regions has long been a significant challenge for multi-agent systems (MASs). By leveraging conformal mapping, this paper introduces a novel sectorial coverage formulation to transform a…
In this paper, we propose to incorporate the blackboard architecture into LLM multi-agent systems (MASs) so that (1) agents with various roles can share all the information and others' messages during the whole problem-solving process, (2)…
To better understand the correlation between network topological features and the robustness of network controllability in a general setting, this paper suggests a practical approach to searching for optimal network topologies with given…
The paper introduces and solves a structural controllability problem for continuum ensembles of linear time-invariant systems. All the individual linear systems of an ensemble are sparse, governed by the same sparsity pattern.…
In this paper, we consider a coordination problem for a class of heterogeneous nonlinear multi-agent systems with a prescribed input-output behavior which was represented by another input-driven system. In contrast to most existing…