Related papers: Decentralized Control Barrier Functions for Couple…
We consider the problem of decentralized sequential active hypothesis testing (DSAHT), where two transmitting agents, each possessing a private message, are actively helping a third agent--and each other--to learn the message pair over a…
We introduce a technique for synthesis of control and communication strategies for a team of agents from a global task specification given as a Linear Temporal Logic (LTL) formula over a set of properties that can be satisfied by the…
A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…
Motivated by the recent interest in formal methods-based control for dynamic robots, we discuss the applicability of prescribed performance control to nonlinear systems subject to signal temporal logic specifications. Prescribed performance…
In this paper, we consider networks of static sensors with integrated sensing and communication capabilities. The goal of the sensors is to propagate their collected information to every other agent in the network and possibly a human…
Prior work on automatic control synthesis for cyber-physical systems under logical constraints has primarily focused on environmental disturbances or modeling uncertainties, however, the impact of deliberate and malicious attacks has been…
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 problem of controlling a heterogeneous multi-agent system required to satisfy temporal logic requirements. Capability Temporal Logic (CaTL) was recently proposed to formalize such specifications for deploying a team of…
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…
Most solutions to the inventory management problem assume a centralization of information that is incompatible with organisational constraints in real supply chain networks. The inventory management problem is a well-known planning problem…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
We present a computational framework for synthesis of distributed control strategies for a heterogeneous team of robots in a partially observable environment. The goal is to cooperatively satisfy specifications given as Truncated Linear…
Individualized products and shorter product life cycles have driven companies to rethink traditional mass production. New concepts like Industry 4.0 foster the advent of decentralized production control and distribution of information. A…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
This paper focuses on synthesizing control policies for discrete-time stochastic control systems together with a lower bound on the probability that the systems satisfy the complex temporal properties. The desired properties of the system…
Recently, a theory for stochastic optimal control in non-linear dynamical systems in continuous space-time has been developed (Kappen, 2005). We apply this theory to collaborative multi-agent systems. The agents evolve according to a given…
Multi-agent systems cooperation to achieve global goals is usually limited by sensing, actuation, and communication issues. At the local level, continuous measurement and actuation is only approximated by the use of digital mechanisms that…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
Synchronizing decisions across multiple agents in realistic settings is problematic since it requires agents to wait for other agents to terminate and communicate about termination reliably. Ideally, agents should learn and execute…