Related papers: Adaptive Synchronization of Heterogeneous Multi-Ag…
Multi-agent target tracking in the presence of nonlinear dynamics and agent heterogeneity, where state-space dimensions may differ, is a challenging problem that traditional graph Laplacian methods cannot easily address. This work leverages…
A crucial challenge in decentralized systems is state estimation in the presence of unknown inputs, particularly within heterogeneous sensor networks with dynamic topologies. While numerous consensus algorithms have been introduced, they…
This paper studies scale-free protocol design for H_\infty almost output and regulated output synchronization of heterogeneous multi-agent systems with linear, right-invertible, and introspective agents in presence of external disturbances.…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
In this paper, we address the problem of attitude synchronization for a group of rigid body systems evolving on SO(3). The interaction among these systems is modeled through an undirected, connected, and acyclic graph topology. First, we…
We study a multi-agent output regulation problem, where not all agents have access to the exosystem's dynamics. We propose a fully distributed controller that solves the problem for linear, heterogeneous, and uncertain agent dynamics as…
Cooperative multi-agent reinforcement learning faces significant challenges in effectively organizing agent relationships and facilitating information exchange, particularly when agents need to adapt their coordination patterns dynamically.…
In this paper, we consider scalable output and regulated output synchronization problems for heterogeneous networks of right-invertible linear agents based on localized information exchange where in the case of regulated output…
This work addresses the edge-based synchronization problem in first-order multi-agent systems containing both cooperative and antagonistic interactions with one or multiple leader groups. The presence of multiple leaders and antagonistic…
In this paper, we study cooperative multi-agent systems in which the target objective and the controls exercised by the agents are dependent on the choices they made at initial system time. Such systems have been investigated in several…
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…
This paper presents a robust distributed coordination protocol that achieves generation of collision-free trajectories for multiple unicycle agents in the presence of stochastic uncertainties. We build upon our earlier work on…
Most previous studies on multi-agent reinforcement learning focus on deriving decentralized and cooperative policies to maximize a common reward and rarely consider the transferability of trained policies to new tasks. This prevents such…
Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…
In this paper, a multi-agent coordination problem with steady-state regulation constraints is investigated for a class of nonlinear systems. Unlike existing leader-following coordination formulations, the reference signal is not given by a…
In this paper, we present a distributed estimation setup where local agents estimate their states from relative measurements received from their neighbours. In the case of heterogeneous multi-agent systems, where only relative measurements…
Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents may encounter latency that may affect…
This paper addresses the bipartite consensus-control problem in open multi-agent systems containing both cooperative and antagonistic interactions. In these systems, new agents can join and new interactions can be formed over time.…
Oscillation synchronization phenomenon is widely observed in natural systems through frequency modulated signals, especially in biological neural networks. Frequency modulation is also one of most widely used technologies in engineering.…
This paper presents a decentralized algorithm for a team of agents to track time-varying fixed points that are the solutions to time-varying convex optimization problems. The algorithm is first-order, and it allows for total asynchrony in…