Related papers: Compositionality of Linearly Solvable Optimal Cont…
In this paper, we present the combined learning-and-control (CLC) approach, which is a new way to solve optimal control problems with unknown dynamics by unifying model-based control and data-driven learning. The key idea is simple: we…
This paper presents a novel approach for achieving safe stochastic optimal control in networked multi-agent systems (MASs). The proposed method incorporates barrier states (BaSs) into the system dynamics to embed safety constraints. To…
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…
This paper addresses the multi-agent control problem under global temporal logic tasks, considering agents with heterogeneous capabilities. These global tasks involve not only absolute and relative temporal and spatial constraints, but also…
Optimal control provides a principled framework for transforming dynamical system models into intelligent decision-making, yet classical computational approaches are often too expensive for real-time deployment in dynamic or uncertain…
Large scale systems are forecasted to greatly impact our future lives thanks to their wide ranging applications including cooperative robotics, mobility on demand, resource allocation, supply chain management. While technological…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
The design of a complex system warrants a compositional methodology, i.e., composing simple components to obtain a larger system that exhibits their collective behavior in a meaningful way. We propose an automaton-based paradigm for…
The objective of the invariant ellipsoid method is to minimize the smallest invariant and attractive set of a linear control system operating under the influence of bounded external disturbances. In this paper, this method is extended into…
This paper presents a decentralized control framework for distribution matching in multi-agent systems (MAS), where agents collectively achieve a prescribed terminal spatial distribution. The problem is formulated using optimal transport…
The behaviour of the moment-sums-of-squares (moment-SOS) hierarchy for polynomial optimal control problems on compact sets has been explored to a large extent. Our contribution focuses on the case of non-compact control sets. We describe a…
This paper treats an optimal scheduling problem of control nodes in networked systems. We newly introduce both the L0 and l0 constraints on control inputs to extract a time-varying small number of effective control nodes. As the cost…
The work done in this paper, proposes a complex Laplacian-based distributed control scheme for convergence in the multi-agent network. The proposed scheme has been designated as cascade formulation. The proposed technique exploits the…
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…
Networked control system (NCS) refer to a set of control loops that are closed over a communication network. In this article, the joint operation of control and networking for NCS is investigated wherein the network serves the…
We study online control for continuous-time linear systems with finite sampling rates, where the objective is to design an online procedure that learns under non-stochastic noise and performs comparably to a fixed optimal linear controller.…
This paper investigates a pattern formation control problem for a multi-agent system modeled with given interaction topology, in which $m$ of the $n$ agents are chosen as leaders and consequently a control signal is added to each of the…
In this paper, an optimal output consensus problem is studied for discrete-time linear multiagent systems subject to external disturbances. Each agent is assigned with a local cost function which is known only to itself. Distributed…
We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited communication. Given a global task expressed as a…
We present MOSAIC, a multi-agent Large Language Model (LLM) framework for solving challenging scientific coding tasks. Unlike general-purpose coding, scientific workflows require algorithms that are rigorous, interconnected with deep domain…