Related papers: State Synchronization of Discrete-time Multi-agent…
This paper proposes a new approach to analyze and synthesize robust consensus control laws for general linear leaderless multi-agent systems (MASs) subjected to input constraints or uncertainties. First, the MAS under input constraints or…
We consider the problem of decomposing a global task assigned to a multi-agent system, expressed as a formula within a fragment of Signal Temporal Logic (STL), under range-limited communication. Given a global task expressed as a…
In this paper we investigate multi-agent discrete-event systems with partial observation. The agents can be divided into several groups in each of which the agents have similar (isomorphic) state transition structures, and thus can be…
This paper studies the problem of safe and optimal continuum deformation of a large-scale multi-agent system (MAS). We present a novel approach for MAS continuum deformation coordination that aims to achieve safe and efficient agent…
Modern supervisory control and data acquisition (SCADA) systems comprise variety of industrial equipment such as physical control processes, logical control systems, communication networks, computers, and communication protocols. They are…
In this paper, the behavior of scalar multi-agent systems over networks subject to time-driven jumps. Assuming that all agents communicate through distinct communication digraphs at jump and flow times, the asymptotic multi-consensus…
We propose an asynchronous, decentralized algorithm for consensus optimization. The algorithm runs over a network in which the agents communicate with their neighbors and perform local computation. In the proposed algorithm, each agent can…
Swarm and modular robotics are an emerging area in control of autonomous systems. However, coordinating a large group of interacting autonomous agents requires careful consideration of the logistical issues involved. In particular,…
Recently, a scalable approach to system analysis and controller synthesis for homogeneous multi-agent systems with Bernoulli distributed packet loss has been proposed. As a key result of that line of work, it was shown how to obtain upper…
We present the linear-stability analysis of synchronised states in coupled time-delay systems. There exists a synchronisation threshold, for which we derive upper bounds, which does not depend on the delay time. We prove that at least for…
We study a graph pathfinding problem Distance-$r$ Independent Unlabeled Multi-Agent Pathfinding, finding a set of collision-free paths between two sets where agents must stay at pairwise distance at least $r+1$ at all times. This additional…
This paper proposes matrix-scaled consensus algorithm, which generalizes the scaled consensus algorithm in \cite{Roy2015scaled}. In (scalar) scaled consensus algorithms, the agents' states do not converge to a common value, but to different…
This paper proposes a decentralized design approach of consensus protocols of multi-agent systems via a directed-spanning-tree(DST)-based linear transformation and the corresponding minimal communication links. First, the consensus problem…
In this paper, we show our discovery that state-transition networks in several chaotic dynamical systems are "scale-free networks," with a technique to understand a dynamical system as a whole, which we call the analysis for…
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…
This paper focuses on consensus problems for high-order, linear multi-agent systems. Undirected communication topologies and fixed, uniform communication time delay are taken into account. This class of problems has been widely study in the…
In this paper, a set-membership filtering-based leader-follower synchronization protocol for discrete-time linear multi-agent systems is proposed wherein the aim is to make the agents synchronize with a leader. The agents, governed by…
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…
This paper studies the synthesis of control policies for heterogeneous and interconnected multi-agent systems that collaborate through data exchange over a communication network to minimize a collective cost. We propose a distributed…
Multi-agent systems (MAS) enable complex reasoning by coordinating multiple agents, but often incur high inference latency due to multi-step execution and repeated model invocations, severely limiting their scalability and usability in…