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In this report, we aim at the development of an online abstraction framework for multi-agent systems under coupled constraints. The motion capabilities of each agent are abstracted through a finite state transition system in order to…
The goal of this report is to define abstractions for multi-agent systems with feedback interconnection in their dynamics. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only…
The purpose of this report is to define abstractions for multi-agent systems under coupled constraints. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only takes into account…
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…
In this report, we aim at the development of a decentralized abstraction framework for multi-agent systems under coupled constraints, with the possibility for a varying degree of decentralization. The methodology is based on the analysis…
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…
Finite-state abstractions (a.k.a. symbolic models) present a promising avenue for the formal verification and synthesis of controllers in continuous-space control systems. These abstractions provide simplified models that capture the…
Designing controllers to satisfy temporal requirements has proven to be challenging for dynamical systems that are affected by uncertainty. This is mainly due to the states evolving in a continuous uncountable space, the stochastic…
In this paper, a computationally efficient data-driven hybrid automaton model is proposed to capture unknown complex dynamical system behaviors using multiple neural networks. The sampled data of the system is divided by valid partitions…
Sufficiently accurate finite state models, also called symbolic models or discrete abstractions, allow one to apply fully automated methods, originally developed for purely discrete systems, to formally reason about continuous and hybrid…
Discrete abstractions have become a standard approach to assist control synthesis under complex specifications. Most techniques for the construction of discrete abstractions are based on sampling of both the state and time spaces, which may…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupled constraints. Each agent has dynamics consisting of two terms: the first one models the coupled constraints and the other one is…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the…
This paper proposes a method for abstracting control systems by timed game automata, and is aimed at obtaining automatic controller synthesis. The proposed abstraction is based on partitioning the state space of a control system using…
This paper investigates the distributed model predictive control for an asynchronous nonlinear multi-agent system with external interference via a self-triggered generator and a prediction horizon regulator. First, a shrinking constraint…
Finite abstractions (a.k.a. symbolic models) offer an effective scheme for approximating the complex continuous-space systems with simpler models in the discrete-space domain. A crucial aspect, however, is to establish a formal relation…
In this note, the coordination of linear discrete-time multi-agent systems over digital networks is investigated with unmeasurable states in agents' dynamics. The quantized-observer based communication protocols and Certainty Equivalence…
This paper investigates the autonomous synchronization problem for discrete-time heterogeneous multiagent systems. The synchronization problem is transformed into the asymptotic decoupling problem of stable modes in a class of discrete-time…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…