Related papers: Persistent Coverage Control for Teams of Heterogen…
In this paper, we study asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented only based on the state information at some…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
We address the synthesis of distributed control policies to enable a swarm of homogeneous mobile sensors to maintain a desired spatial distribution in a geophysical flow environment, or workspace. In this article, we assume the mobile…
Deploying a safe mobile robot policy in scenarios with human pedestrians is challenging due to their unpredictable movements. Current Reinforcement Learning-based motion planners rely on a single policy to simulate pedestrian movements and…
Open ad hoc teamwork is the problem of training a single agent to efficiently collaborate with an unknown group of teammates whose composition may change over time. A variable team composition creates challenges for the agent, such as the…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
A graph theoretic framework recently has been proposed to stabilize interconnected multiagent systems in a distributed fashion, while systematically capturing the architectural aspect of cyber-physical systems with separate agent or…
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,…
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…
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking control methods, where the desired distance between each pair…
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…
As multiple and heterogenous unmanned vehicle systems continue to play an increasingly important role in addressing complex missions in the real world, the need for effective cooperation among unmanned vehicles becomes paramount. The…
This paper presents a solution to the automatic task planning problem for multi-agent systems. A formal framework is developed based on the Nondeterministic Finite Automata with $\epsilon$-transitions, where given the capabilities,…
We consider the problem of estimating the states of a distributed network of nodes (targets) through a team of cooperating agents (sensors) persistently visiting the nodes so that an overall measure of estimation error covariance evaluated…
Systems integration is a difficult matter particularly when its components are varied. The problem becomes even more difficult when such components are heterogeneous such as humans, robots and software systems. Currently, the humans are…
Accurate local state measurement is important to ensure the reliable operation of distributed multi-agent systems (MAS). Existing fault-tolerant control strategies generally assume the sensor faults to be bounded and uncorrelated. In this…
In this paper, we consider the consensus problem of hybrid multi-agent system. First, the hybrid multi-agent system is proposed which is composed of continuous-time and discrete-time dynamic agents. Then, three kinds of consensus protocols…
Despite longstanding interest, controller synthesis remains challenging for networks of heterogeneous, nonlinear agents. Moreover, the requirements for computational scalability and information privacy have become increasingly critical.…
We consider a transportation system of heterogeneously connected vehicles, where not all vehicles are able to communicate. Heterogeneous connectivity in transportation systems is coupled to practical constraints such that (i) not all…
Collaborative perception (CP) is a promising paradigm for improving situational awareness in autonomous vehicles by overcoming the limitations of single-agent perception. However, most existing approaches assume homogeneous agents, which…