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This work studies the intersection of continual and federated learning, in which independent agents face unique tasks in their environments and incrementally develop and share knowledge. We introduce a mathematical framework capturing the…
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.…
We present a framework for automatically decomposing ("block-modeling") the functional classes of agents within a complex network. These classes are represented by the nodes of an image graph ("block model") depicting the main patterns of…
This paper aims at distributed multi-agent convex optimization where the communications network among the agents are presented by a random sequence of possibly state-dependent weighted graphs. This is the first work to consider both random…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
This paper addresses the problem of positive consensus of directed multi-agent systems with observer-type output-feedback protocols. More specifically, directed graph is used to model the communication topology of the multi-agent system and…
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 consider the optimal multi-agent persistent monitoring problem defined by a team of cooperating agents visiting a set of nodes (targets) on a graph with the objective of minimizing a measure of overall node state uncertainty. The…
Communication-aware control is essential to reduce costs and complexity in large-scale networks. This work proposes a method to design dissipativity-augmented output feedback controllers with reduced online communication. The contributions…
This work develops effective distributed strategies for the solution of constrained multi-agent stochastic optimization problems with coupled parameters across the agents. In this formulation, each agent is influenced by only a subset of…
We consider a decentralized optimal control problem for a linear plant controlled by two controllers, a local controller and a remote controller. The local controller directly observes the state of the plant and can inform the remote…
Decentralized optimization over time-varying networks has a wide range of applications in distributed learning, signal processing and various distributed control problems. The agents of the distributed system locally hold optimization…
Composite systems are large complex systems con- sisting of interconnected agents (subsystems). Agents in a com- posite system interact with each other towards performing an in- tended goal. Controllability is essential to achieve desired…
Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…
For a multi-agent system state estimation resting upon noisy measurements constitutes a problem related to several application scenarios. Adopting the standard least-squares approach, in this work we derive both the (centralized) analytic…
We propose a multi-agent system that enables groups of agents to collaborate and work autonomously to execute tasks. Groups can work in a decentralized manner and can adapt to dynamic changes in the environment. Groups of agents solve…
This work presents a novel communication framework for decentralized multi-agent systems operating in dynamic network environments. Integrated into a multi-agent reinforcement learning system, the framework is designed to enhance…
Consider a consensus-driven multi-agent dynamic system. The interaction range, which defines the set of neighbors for each agent, plays a key role in influencing connectivity of the underlying network. In this paper, we assume the system is…
This work considers the distributed computation of the one-to-one vertex correspondences between two undirected and connected graphs, which is called \textit{graph matching}, over multi-agent networks. Given two \textit{isomorphic} and…
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…