Related papers: Optimal communication and control strategies in a …
In this paper, an optimal output consensus problem is studied for discrete-time linear multiagent systems subject to external disturbances. Each agent is assigned with a local cost function which is known only to itself. Distributed…
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 consider the problem of online learning of optimal control for repeatedly operated systems in the presence of parametric uncertainty. During each round of operation, environment selects system parameters according to a fixed but unknown…
In this paper, multi-agent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuous-time dynamics with time-varying interconnection topologies. Assuming that each…
We consider the problem of decentralized constrained optimization with multiple agents $E_1,\ldots,E_N$ who jointly wish to learn the optimal solution set while keeping their feasible sets $\mathcal{P}_1,\ldots,\mathcal{P}_N$ private from…
In this paper, we investigate learning temporal abstractions in cooperative multi-agent systems, using the options framework (Sutton et al, 1999). First, we address the planning problem for the decentralized POMDP represented by the…
In many non-cooperative settings, agents often possess useful information that provide an advantage over their opponent(s), but acting on such information too frequently can lead to detection. I develop a simple framework to analyze such a…
In this paper we study the problem of information sharing among rational self-interested agents as a dynamic game of asymmetric information. We assume that the agents imperfectly observe a Markov chain and they are called to decide whether…
Cross-layer optimization solutions have been proposed in recent years to improve the performance of network users operating in a time-varying, error-prone wireless environment. However, these solutions often rely on ad-hoc optimization…
We propose a method, based on empirical game theory, for a robot operating as part of a team to choose its role within the team without explicitly communicating with team members, by leveraging its knowledge about the team structure. To do…
This paper addresses the task of joint multi-agent perception and planning, especially as it relates to the real-world challenge of collision-free navigation for connected self-driving vehicles. For this task, several communication-enabled…
From autonomous driving to package delivery, ensuring safe yet efficient multi-agent interaction is challenging as the interaction dynamics are influenced by hard-to-model factors such as social norms and contextual cues. Understanding…
Traditional approaches to the design of multi-agent navigation algorithms consider the environment as a fixed constraint, despite the obvious influence of spatial constraints on agents' performance. Yet hand-designing improved environment…
In cyber-physical systems such as automobiles, measurement data from sensor nodes should be delivered to other consumer nodes such as actuators in a regular fashion. But, in practical systems over unreliable media such as wireless, it is a…
Motivated by the control theoretic distinction between controllable and uncontrollable events, we distinguish between two types of agents within a multi-agent system: controllable agents, which are directly controlled by the system's…
In recent times, various distributed optimization algorithms have been proposed for whose specific agent dynamics global optimality and convergence is proven. However, there exist no general conditions for the design of such algorithms. In…
In this paper we develop a method for planning and coordinating a multi-agent team deployment to periodically gather information on demand. A static operation center (OC) periodically requests information from changing goal locations. The…
We propose a novel formulation of the "effectiveness problem" in communications, put forth by Shannon and Weaver in their seminal work [2], by considering multiple agents communicating over a noisy channel in order to achieve better…
We consider the problem of steering a multi-agent system to multi-consensus, namely a regime where groups of agents agree on a given value which may be different from group to group. We first address the problem by using distributed…
Witsenhausen, in his seminal 1971 paper [1], introduced decentralized partially observable Markov decision problems (POMDPs), with multiple agents or controls operating under T-step delayed sharing information patterns. A fundamental…