Related papers: Surrogate Optimal Control for Strategic Multi-Agen…
To achieve an optimal outcome in many situations, agents need to choose distinct actions from one another. This is the case notably in many resource allocation problems, where a single resource can only be used by one agent at a time. How…
In this work we study a multi-agent coordination problem in which agents are only able to communicate with each other intermittently through a cloud server. To reduce the amount of required communication, we develop a self-triggered…
Motion planning for autonomous robots and vehicles in presence of uncontrolled agents remains a challenging problem as the reactive behaviors of the uncontrolled agents must be considered. Since the uncontrolled agents usually demonstrate…
This paper presents a novel architecture for model predictive control (MPC) based indoor climate control of multi-zone buildings to provide energy efficiency. Unlike prior works we do not assume the availability of a high-resolution…
There are many industrial, commercial and social applications for multi-agent planning for multirotors such as autonomous agriculture, infrastructure inspection and search and rescue. Thus, improving on the state-of-the-art of multi-agent…
New architectures and algorithms are needed to reflect the mixture of local and global information that is available as multi-agent systems connect over the cloud. We present a novel architecture for multi-agent coordination where the cloud…
Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payload. When the MAS has to deal with active obstacles in a…
In this paper, a multi-agent coordination problem with steady-state regulation constraints is investigated for a class of nonlinear systems. Unlike existing leader-following coordination formulations, the reference signal is not given by a…
This paper investigates the distributed model predictive control for an asynchronous nonlinear multi-agent system with external interference via a self-triggered generator and a prediction horizon regulator. First, a shrinking constraint…
In this demo work we develop a method to plan and coordinate a multi-agent team to gather information on demand. The data is periodically requested by a static Operation Center (OC) from changeable goals locations. The mission of the team…
In this paper we develop a method for planning and coordinating a multi-agent team deployment to periodically gather information on demand. A static operation center (OC) periodically requests information from changing goal locations. The…
This paper studies optimal consensus tracking problem of heterogeneous linear multi-agent systems. By introducing tracking error dynamics, the optimal tracking problem is reformulated as finding a Nash-equilibrium solution of a multi-player…
In multiagent systems, agents often have to rely on other agents to reach their goals, for example when they lack a needed resource or do not have the capability to perform a required action. Agents therefore need to cooperate. Then, some…
Optimization problems in process engineering, including design and operation, can often pose challenges to many solvers: multi-modal, non-smooth, and discontinuous models often with large computational requirements. In such cases, the…
The consensus control with optimal cost remains major challenging although consensus control problems have been well studied in recent years. In this paper, we study the consensus control of multi-agent system associated with a given cost…
Multi-agent planning in stochastic environments can be framed formally as a decentralized Markov decision problem. Many real-life distributed problems that arise in manufacturing, multi-robot coordination and information gathering scenarios…
We study the problem of multi-agent control of a dynamical system with known dynamics and adversarial disturbances. Our study focuses on optimal control without centralized precomputed policies, but rather with adaptive control policies for…
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.…
In this paper, we investigate a constrained optimal coordination problem for a class of heterogeneous nonlinear multi-agent systems described by high-order dynamics subject to both unknown nonlinearities and external disturbances. Each…
Motivated by the control theoretic distinction between controllable and uncontrollable events, we distinguish between two types of agents within a multi-agent system: controllable agents, which are directly controlled by the system's…