Related papers: Controller Synthesis for Multi-Agent Systems with …
In this technical note, we investigate an optimal output consensus problem for heterogeneous uncertain nonlinear multi-agent systems. The considered agents are described by high-order nonlinear dynamics subject to both static and dynamic…
This paper studies the synchronization problem of second-order nonlinear multi-agent systems with intermittent communication in the presence of irregular communication delays and possible information loss. The control objective is to steer…
Time-varying coverage control addresses the challenge of coordinating multiple agents covering an environment where regions of interest change over time. This problem has broad applications, including the deployment of autonomous taxis and…
This paper addresses decentralized control of large-scale heterogeneous multi-agent systems subject to bounded external disturbances and limited communication, with the objective of satisfying cooperative Signal Temporal Logic (STL)…
Multi-agent systems (MAS) composed of large language models often exhibit improved problem-solving performance despite operating on identical information. In this work, we provide a formal explanation for this phenomenon grounded in…
Motivated by the recent interest in formal methods-based control of multi-agent systems, we adopt a bottom-up approach. Each agent is subject to a local signal temporal logic task that may depend on other agents behavior. These dependencies…
Formal control of cyber-physical systems allows for synthesis of control strategies from rich specifications such as temporal logics. However, the classes of systems that the formal approaches can be applied to is limited due to the…
Automatic synthesis from linear temporal logic (LTL) specifications is widely used in robotic motion planning, control of autonomous systems, and load distribution in power networks. A common specification pattern in such applications…
In many applications involving multi-agent system (MAS), it is imperative to test an experimental (Exp) autonomous agent in a high-fidelity simulator prior to its deployment to production, to avoid unexpected losses in the real-world. Such…
In this paper, we investigate the controller design problem for linear disturbed systems under signal temporal logic (STL) specifications imposing both spatial and temporal constraints on system behavior. We first implement zonotope-based…
This study presents a multi-agent negotiation-based framework to obtain collision-free paths while performing prescribed-time reach-avoid-stay (RAS) tasks for agents with unknown dynamics and bounded disturbance. By employing spatiotemporal…
Only limited studies and superficial evaluations are available on agents' behaviors and roles within a Multi-Agent System (MAS). We simulate a MAS using Reinforcement Learning (RL) in a pursuit-evasion (a.k.a predator-prey pursuit) game,…
This paper studies periodic event-triggered networked control for nonlinear systems, where the plants and controllers are connected by multiple independent communication channels. Several network-induced imperfections are considered…
Time-varying hierarchical multi-agent systems are common in many applications. A well-known solution to control these systems is to use state feedback controllers that depend on the adjacency matrix to reach consensus. This solution has…
The optimal control for mobile agents is an important and challenging issue. Recent work shows that using randomized mechanism in agents' control can make the state unpredictable, and thus improve the security of agents. However, the…
Cooperative information shared among a multi-agent system (MAS) can be useful to agents to efficiently fulfill their missions. Relying on wrong information, however, can have severe consequences. While classical approaches only consider…
We propose novel controller synthesis techniques for probabilistic systems modelled using stochastic two-player games: one player acts as a controller, the second represents its environment, and probability is used to capture uncertainty…
In many applications of multi-agent systems (MAS), a set of leader agents acts as a control input to the remaining follower agents. In this paper, we introduce an analytical approach to selecting leader agents in order to minimize the total…
Solving an output consensus problem in multi-agent systems is often hindered by multiple time-variant delays. To address such fundamental problems over time, we present a new optimal time-variant distributed control for linearly perturbed…
In this paper, we introduce the system theoretic model for the multi-agent MC systems represented by multi-input and multi-output (MIMO) systems using the transfer functions, and then propose a method to analyze the stability for the…