Related papers: Surrogate Optimal Control for Strategic Multi-Agen…
We propose a reliable intersection control mechanism for strategic autonomous and connected vehicles (agents) in non-cooperative environments. Each agent has access to his/her earliest possible and desired passing times, and reports a…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
In this paper, we investigate a decentralized stochastic control problem with two agents, where a part of the memory of the second agent is also available to the first agent at each instance of time. We derive a structural form for optimal…
Decentralized collision avoidance remains challenging, particularly when agents do not communicate any information related to planned trajectories. Most existing approaches either rely on conservative coordination mechanisms or provide…
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 consider the problem of steering a multi-agent system to multi-consensus, namely a regime where groups of agents agree on a given value which may be different from group to group. We first address the problem by using distributed…
In this paper, we develop a novel dynamic distributed optimal safe consensus protocol to simultaneously achieve safety requirements and output optimal consensus. Specifically, we construct a distributed projection optimization algorithm…
Suppose that a set of $m$ tasks are to be shared as equally as possible amongst a set of $n$ resources. A game-theoretic mechanism to find a suitable allocation is to associate each task with a ``selfish agent'', and require each agent to…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
We consider the problem of controlling the group behavior of a large number of dynamic systems that are constantly interacting with each other. These systems are assumed to have identical dynamics (e.g., birds flock, robot swarm) and their…
In this paper, a distributed optimal steady-state regulation problem is formulated and investigated for heterogeneous linear multi-agent systems subject to external disturbances. We aim to steer this high-order multi-agent network to a…
Multi-agents systems communication is a technology, which provides a way for multiple interacting intelligent agents to communicate with each other and with environment. Multiple-agent systems are used to solve problems that are difficult…
In this paper, a distributed Model Predictive Control strategy is developed for a multi zone building plant with disturbances. The control objective is to maintain each zones temperature at a specified level with the minimum cost of the…
This paper investigates an aperiodic distributed model predictive control approach for multi-agent systems (MASs) in which parameterized synchronization constraints is considered and an innovative self-triggered criterion is constructed.…
We study the problem of achieving decentralized coordination by a group of strategic decision makers choosing to engage or not in a task in a stochastic setting. First, we define a class of symmetric utility games that encompass a broad…
This work proposes multi-agent systems setting for concurrent engineering system design optimization and gradually paves the way towards examining graph theoretic constructs in the context of multidisciplinary design optimization problem.…
In this paper, we study a distributed optimization problem for a class of high-order multi-agent systems with unknown dynamics. In comparison with existing results for integrators or linear agents, we need to overcome the difficulties…
Although multi-agent reinforcement learning can tackle systems of strategically interacting entities, it currently fails in scalability and lacks rigorous convergence guarantees. Crucially, learning in multi-agent systems can become…
We present a hierarchical control scheme for large-scale systems whose components can exchange information through a data network. The main goal of the supervisory layer is to find the best compromise between control performance and…