Related papers: A Distributed Simplex Architecture for Multi-Agent…
With the rise of increasingly complex autonomous systems powered by black box AI models, there is a growing need for Run Time Assurance (RTA) systems that provide online safety filtering to untrusted primary controller output. Currently,…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
Existing decentralized methods for multi-agent motion planning lack formal, infinite-horizon safety guarantees, especially for communication-constrained systems. We present R3R which, to our knowledge, is the first decentralized and…
Addressing complex cooperative tasks in safety-critical environments poses significant challenges for multi-agent systems, especially under conditions of partial observability. We focus on a dynamic network bridging task, where agents must…
Multiagent Systems (MASs) involve different characteristics, such as autonomy, asynchronous and social features, which make these systems more difficult to understand. Thus, there is a lack of procedures guaranteeing that multiagent systems…
This paper asks a new question: how can we control the collective behavior of self-organized multi-agent systems? We try to answer the question by proposing a new notion called 'Soft Control', which keeps the local rule of the existing…
We consider safety-critical multi-agent systems with distributed control architectures and potentially varying network topologies. While learning-based distributed control enables scalability and high performance, a lack of formal safety…
This paper proposes Distributed Model Predictive Covariance Steering (DiMPCS) for multi-agent control under stochastic uncertainty. The scope of our approach is to blend covariance steering theory, distributed optimization and model…
In this work, we propose a novel safe and scalable decentralized solution for multi-agent control in the presence of stochastic disturbances. Safety is mathematically encoded using stochastic control barrier functions and safe controls are…
This paper presents a secure-by-construction planning and control framework for multi-agent systems subject to linear temporal logic (LTL) specifications. The framework protects sensitive information from a passive intruder with partial…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
Cooperative multi-agent reinforcement learning (MARL) has made prominent progress in recent years. For training efficiency and scalability, most of the MARL algorithms make all agents share the same policy or value network. However, in many…
Many complex systems find a convenient representation in terms of networks: structures made by pairwise interactions (links) of elements (nodes). For many biological and social systems, elementary interactions involve however more than two…
The increasing demand for energy-efficient solutions in large-scale infrastructure, particularly data centers, requires advanced control strategies to optimize environmental management systems. We propose a multi-agent architecture for…
Making Smart Cities more sustainable, resilient and democratic is emerging as an endeavor of satisfying hard constraints, for instance meeting net-zero targets. Decentralized multi-agent methods for socio-technical optimization of…
Autonomous Artificial Intelligence (AI) agents, powered by Large Language Models (LLMs), advance rapidly toward interconnected systems -- an Internet of Agents (IoA). This vision enables complex problem-solving while introducing systemic…
This paper studies the consensus problem of general linear discrete-time multi-agent systems (MAS) with input constraints and bounded time-varying communication delays. We propose a robust distributed model predictive control (DMPC)…
Microservice Architecture (MSA) is a novel service-based architectural style for distributed software systems. Compared to Service-oriented Architecture (SOA), MSA puts a stronger focus on self-containment of services. Each microservice is…
Routing strategies for traffics and vehicles have been historically studied. However, in the absence of considering drivers' preferences, current route planning algorithms are developed under ideal situations where all drivers are expected…
In this work, we first consider distributed convex constrained optimization problems where the objective function is encoded by multiple local and possibly nonsmooth objectives privately held by a group of agents, and propose a distributed…