Related papers: A Distributed Simplex Architecture for Multi-Agent…
Large Language Model-based Multi-Agent Systems (MAS) have demonstrated remarkable collaborative reasoning capabilities but introduce new attack surfaces, such as the sleeper agent, which behave benignly during routine operation and…
Robot navigation in complex environments necessitates controllers that prioritize safety while remaining performant and adaptable. Traditional controllers like Regulated Pure Pursuit, Dynamic Window Approach, and Model-Predictive Path…
The performance and safety of autonomous vehicles (AVs) deteriorates under adverse environments and adversarial actors. The investment in multi-sensor, multi-agent (MSMA) AVs is meant to promote improved efficiency of travel and mitigate…
This paper introduces HECATE, a novel framework based on the Entity-Component-System (ECS) architectural pattern that bridges the gap between distributed systems engineering and MAS development. HECATE is built using the…
Safety analysis is used to identify hazards and build knowledge during the design phase of safety-relevant functions. This is especially true for complex AI-enabled and software intensive systems such as Autonomous Drive (AD).…
The design of multi-agent based simulations (MABS) is up to now mainly done in laboratories and based on designers' understanding of the activities to be simulated. Domain experts have little chance to directly validate agent behaviors. To…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
This paper describes a hierarchical solution consisting of a multi-phase planner and a low-level safe controller to jointly solve the safe navigation problem in crowded, dynamic, and uncertain environments. The planner employs dynamic gap…
We propose distributed iterative algorithms for safe control design and safety verification for networked multi-agent systems. These algorithms rely on distributing a control barrier function (CBF) related quadratic programming (QP) problem…
As autonomous systems become more prevalent in the real world, it is critical to ensure they operate safely. One approach is the use of Run Time Assurance (RTA), which is a real-time safety assurance technique that monitors a primary…
With the development of the 5G and Internet of Things, amounts of wireless devices need to share the limited spectrum resources. Dynamic spectrum access (DSA) is a promising paradigm to remedy the problem of inefficient spectrum utilization…
A novel deep multi-agent reinforcement learning framework is proposed to identify and resolve conflicts among a variable number of aircraft in a high-density, stochastic, and dynamic sector. Currently the sector capacity is constrained by…
In multiagent dynamical systems, privacy protection corresponds to avoid disclosing the initial states of the agents while accomplishing a distributed task. The system-theoretic framework described in this paper for this scope, denoted…
We introduce a novel method for non-convex optimization, called Swarm-based Simulated Annealing (SSA), which is at the interface between the swarm-based gradient-descent (SBGD) [J. Lu et. al., ArXiv:2211.17157; E.Tadmor and A. Zenginoglu,…
The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spatial distribution-matching deployment. Coverage control may…
Multi-agent systems (MAS) are increasingly tasked with solving complex, knowledge-intensive problems where effective agent orchestration is critical. Conventional orchestration methods rely on static agent descriptions, which often become…
Agent-based simulation is an indispensable paradigm for studying complex systems. These systems can comprise billions of agents, requiring the computing resources of multiple servers to simulate. Unfortunately, the state-of-the-art…
Since it is impossible to predict and identify all the vulnerabilities of a network beforehand, and penetration into a system by malicious intruders cannot always be prevented, intrusion detection systems (IDSs) are essential entities to…
In this paper, we propose two novel decentralized optimization frameworks for multi-agent nonlinear optimal control problems in robotics. The aim of this work is to suggest architectures that inherit the computational efficiency and…
Simulated annealing (SA) method has had significant recent success in designing distributed control algorithms for wireless networks. These SA based techniques formed the basis of new CSMA algorithms and gave rise to the development of…