Related papers: Multi-agent deployment under the leader displaceme…
We consider the problem of decentralized constrained optimization with multiple agents $E_1,\ldots,E_N$ who jointly wish to learn the optimal solution set while keeping their feasible sets $\mathcal{P}_1,\ldots,\mathcal{P}_N$ private from…
Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers. We use deep reinforcement learning for pursuing an omni-directional target with multiple, homogeneous agents that are subject to unicycle kinematic…
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…
We investigate the problem of co-designing computation and communication in a multi-agent system (e.g. a sensor network or a multi-robot team). We consider the realistic setting where each agent acquires sensor data and is capable of local…
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…
This paper addresses boundary prescribed-time stabilization of a one-dimensional heat equation with spatially and temporally varying coefficients. In contrast to asymptotic or exponential stabilization, prescribed-time stabilization ensures…
This paper presents the control design of the two-phase Stefan problem. The two-phase Stefan problem is a representative model of liquid-solid phase transition by describing the time evolutions of the temperature profile which is divided by…
This paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with external disturbances and heterogeneous time-varying input and communication delays under a directed communication…
We consider a decentralized bidirectional control of a platoon of N identical vehicles moving in a straight line. The control objective is for each vehicle to maintain a constant velocity and inter-vehicular separation using only the local…
We study a graph pathfinding problem Distance-$r$ Independent Unlabeled Multi-Agent Pathfinding, finding a set of collision-free paths between two sets where agents must stay at pairwise distance at least $r+1$ at all times. This additional…
Using multiple mobile robots in search missions offers a lot of benefits, but one needs a suitable and competent motion control algorithm which is able to consider sensors characteristics, the uncertainty of target detection and complexity…
We propose a distributed control, in which many identical control agents are deployed for controlling a linear time-invariant plant that has multiple input-output channels. Each control agent can join or leave the control loop during the…
We propose a method for analyzing the distributed random coordinate descent algorithm for solving separable resource allocation problems in the context of an open multiagent system, where agents can be replaced during the process. In…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
Multicasting is an efficient technique for simultaneously transmitting common messages from the base station (BS) to multiple mobile users (MUs). Multicast scheduling over multiple channels, which aims to jointly minimize the energy…
This paper presents a novel control strategy for the coordination of a multi-agent system subject to high-level goals expressed as linear temporal logic formulas. In particular, each agent, which is modeled as a sphere with 2nd order…
A network of agents, modeled by a class of wave PDEs, is under investigation. One agent in the network plays the role of a leader, and all the remaining "follower" agents are required to asymptotically track the state of the leader. Only…
We propose a finite-state, decentralized decision and control framework for multi-agent ground coverage. The approach decomposes the problem into two coupled components: (i) the structural design of a deep neural network (DNN) induced by…
Making Smart Cities more sustainable, resilient and democratic is emerging as an endeavor of satisfying hard constraints, for instance meeting net-zero targets. Decentralized multi-agent methods for socio-technical optimization of…
This paper considers a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale. Instead of assigning the formation system with a specific geometry, here the only…