Related papers: Multi-Agent Control Using Coverage Over Time-Varyi…
We consider the problem of using multiple agents to harvest data from a collection of sensor nodes (targets) scattered across a two-dimensional environment. These targets transmit their data to the agents that move in the space above them,…
Unmanned Aerial Vehicles (UAVs) have been increasingly used in the context of remote sensing missions such as target search and tracking, mapping, or surveillance monitoring. In the first part of our paper we consider agent dynamics,…
This paper focuses on a model for opinion dynamics, where the influence weights of agents evolve in time. We formulate a control problem of consensus type, in which the objective is to drive all agents to a final target point under suitable…
The design of control systems for the spatial self-organization of mobile agents is an open challenge across several engineering domains, including swarm robotics and synthetic biology. Here, we propose a bio-inspired leader-follower…
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…
This paper studies the problem of distributed spectrum/channel access for cognitive radio-enabled unmanned aerial vehicles (CUAVs) that overlay upon primary channels. Under the framework of cooperative spectrum sensing and opportunistic…
Autonomous vehicles are suited for continuous area patrolling problems. However, finding an optimal patrolling strategy can be challenging for many reasons. Firstly, patrolling environments are often complex and can include unknown…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
In this paper we consider the coverage control problem for a team of wire-traversing robots. The two-dimensional motion of robots moving in a planar environment has to be projected to one-dimensional manifolds representing the wires.…
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…
The networked nature of multi-robot systems presents challenges in the context of multi-agent reinforcement learning. Centralized control policies do not scale with increasing numbers of robots, whereas independent control policies do not…
We propose a shared semantic map architecture to construct and configure Model Predictive Controllers (MPC) dynamically, that solve navigation problems for multiple robotic agents sharing parts of the same environment. The navigation task…
This paper addresses the challenge of enabling a single robot to effectively assist multiple humans in decision-making for task planning domains. We introduce a comprehensive framework designed to enhance overall team performance by…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
This paper considers a multiagent, connected, robotic fleet where the primary functionality of the agents is sensing. A distributed multi-sensor control strategy maximizes the value of the collective sensing capability of the fleet, using…
Multi-agent human-robot co-manipulation is a poorly understood process with many inputs that potentially affect agent behavior. This paper explores one such input known as interaction force. Interaction force is potentially a primary…
This paper studies the containment control problem of multi-agent systems with multiple dynamic leaders in both the discrete-time domain and the continuous-time domain. The leaders' motions are described by $(n-1)$-order polynomial…
A key challenge in multi-robot and multi-agent systems is generating solutions that are robust to other self-interested or even adversarial parties who actively try to prevent the agents from achieving their goals. The practicality of…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integro-differential equations to describe leader and follower…