Related papers: Explicit Agent-Level Optimal Cooperative Controlle…

This paper constructs a framework to describe and study the coordinated output regulation problem for multiple heterogeneous linear systems. Each agent is modeled as a general linear multiple-input multiple-output system with an autonomous…

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…

Distributed aggregative optimization is a recently emerged framework in which the agents of a network want to minimize the sum of local objective functions, each one depending on the agent decision variable (e.g., the local position of a…

This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…

A complex system is made up of many components with many interactions. So the design of systems such as simulation systems, cooperative systems or assistance systems includes a very accurate modelling of interactional and communicational…

Multi-agent networks are often modeled as interaction graphs, where the nodes represent the agents and the edges denote some direct interactions. The robustness of a multi-agent network to perturbations such as failures, noise, or malicious…

This note studies resilient coordination of networked multiagent systems in the presence of misbehaving agents, i.e., agents that are subject to adversaries modeled as exogenous disturbances. Apart from the existing relevant literature that…

Adaptive networks have the capability to pursue solutions of global stochastic optimization problems by relying only on local interactions within neighborhoods. The diffusion of information through repeated interactions allows for globally…

In the graph exploration problem, a team of mobile computational entities, called agents, arbitrarily positioned at some nodes of a graph, must cooperate so that each node is eventually visited by at least one agent. In the literature, the…

The coordination of autonomous agents is a critical issue for decentralized communication networks. Instead of transmitting information, the agents interact in a coordinated manner in order to optimize a general objective function. A target…

This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input of each agent can be written as a product of a nonlinear gain,…

Effectively capturing the joint distribution of all agents in a scene is relevant for predicting the true evolution of the scene and in turn providing more accurate information to the decision processes of autonomous vehicles. While new…

Decentralized stochastic control problems with local information involve problems where multiple agents and subsystems which are coupled via dynamics and/or cost are present. Typically, however, the dynamics of such couplings is complex and…

We consider the problem of distributing a control policy across a network of interconnected units. Distributing controllers in this way has a number of potential advantages, especially in terms of robustness, as the failure of a single unit…

We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…

We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents subject to individual constraints. In the scheme, we explore…

In this paper, the synchronization of heterogeneous agents interacting over a dynamical network is studied. The edge dynamics can model the inter-agent communications which are often heterogeneous by nature. They can also model the…

In this paper, we discuss a distributed control architecture, aimed at networks with linear and time-invariant dynamics, which is amenable to convex formulations for controller design. The proposed approach is well suited for large scale…

In this article, we consider a fundamental decentralized optimal control problem, which we call the two-player problem. Two subsystems are interconnected in a nested information pattern, and output feedback controllers must be designed for…

In this paper, we study discrete evacuation in networks, where agents know the network topology and designated exit nodes but do not know the number and initial positions of other agents. Each agent initially occupies a distinct node and…