Related papers: Persistent Coverage Control for Teams of Heterogen…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination…
This paper introduces a decentralized multi-agent reinforcement learning framework enabling structurally heterogeneous teams of agents to jointly discover and acquire randomly located targets in environments characterized by partial…
We introduce a novel distributed sampled-data control method tailored for heterogeneous multi-agent systems under a global spatio-temporal task with acyclic dependencies. Specifically, we consider the global task as a conjunction of…
Cooperation of multiple connected vehicles has the potential to benefit the road traffic greatly. In this paper, we consider analysis and synthesis problems of the cooperative control of a platoon of heterogeneous connected vehicles with…
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…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
This paper addresses the problem of longitudinal platooning control of homogeneous vehicles subject to external disturbances, such as wind gusts, road slopes, and parametric uncertainties. Our control objective is to maintain the relative…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
Reinforcement learning in heterogeneous multi-agent scenarios is important for real-world applications but presents challenges beyond those seen in homogeneous settings and simple benchmarks. In this work, we present an actor-critic…
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…
Conventional distributed approaches to coverage control may suffer from lack of convergence and poor performance, due to the fact that agents have limited information, especially in non-convex discrete environments. To address this issue,…
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…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
As autonomous vehicle technology advances, ensuring the safety and reliability of these systems becomes paramount. Consequently, comprehensive testing methodologies are essential to evaluate the performance of autonomous vehicles in diverse…
In this paper we present a prediction-based Cooperative Adaptive Cruise Controller for vehicles with actuation delay, applicable within heterogeneous platoons. We provide a stability analysis for the discrete-time implementation of this…
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 considers the problem of autonomous multi-agent cooperative target search in an unknown environment using a decentralized framework under a no-communication scenario. The targets are considered as static targets and the agents…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
Although advanced traffic management systems can deal with the heterogeneous traffic flows approaching of intersections, their performances are compromised, when the traffic volume is not distributed uniformly. To evenly distribute the…