Related papers: Continuum Deformation Coordination of Multi-Agent …
Multi Agent Path Finding (MAPF) requires identification of conflict free paths for agents which could be point-sized or with dimensions. In this paper, we propose an approach for MAPF for spatially-extended agents. These find application in…
This paper studies fully decentralized cooperative multi-agent reinforcement learning, where each agent solely observes the states, its local actions, and the shared rewards. The inability to access other agents' actions often leads to…
In this paper we study the problem of cooperative searching and tracking (SAT) of multiple moving targets with a group of autonomous mobile agents that exhibit limited sensing capabilities. We assume that the actual number of targets is not…
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…
In this paper, we study the problem of reinforcement learning in multi-agent systems where communication among agents is limited. We develop a decentralized actor-critic learning framework in which each agent performs several local updates…
The rapid growth of wearable sensor technologies holds substantial promise for the field of personalized and context-aware Human Activity Recognition. Given the inherently decentralized nature of data sources within this domain, the…
In this paper, we propose a Contact Diffusion Model (CDM), a novel learning-based approach for multi-contact point localization. We consider a robot equipped with joint torque sensors and a force/torque sensor at the base. By leveraging a…
This paper addresses the problem of multitarget tracking using a network of sensing agents with unknown positions. Agents have to both localize themselves in the sensor network and, at the same time, perform multitarget tracking in the…
This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility…
This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…
We propose a method for analyzing the distributed random coordinate descent algorithm for solving separable resource allocation problems in the context of an open multiagent system, where agents can be replaced during the process. In…
Challenges in real-world robotic applications often stem from managing multiple, dynamically varying entities such as neighboring robots, manipulable objects, and navigation goals. Existing multi-agent control strategies face scalability…
Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers. We use deep reinforcement learning for pursuing an omni-directional target with multiple, homogeneous agents that are subject to unicycle kinematic…
We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents subject to individual constraints. In the scheme, we explore…
Multi-agent Pathfinding (MAPF) problem generally asks to find a set of conflict-free paths for a set of agents confined to a graph and is typically solved in a centralized fashion. Conversely, in this work, we investigate the decentralized…
In this paper a decentralized control algorithm for systems composed of $N$ dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into $N$ optimal control sub-problems and a…
This paper addresses the distributed attitude synchronization problem for a network of rigid-body systems on the special orthogonal group SO(3). Each agent measures, in its body frame, its own angular velocity and a set of vectors whose…
This paper investigates a modification of cyclic constant bearing (CB) pursuit in a multi-agent system in which each agent pays attention to a neighbor and a beacon. The problem admits shape equilibria with collective circling about the…
In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…