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A formalism is presented for computing and organizing actions for autonomous agents in dynamic environments. We introduce the notion of teleo-reactive (T-R) programs whose execution entails the construction of circuitry for the continuous…
In this paper, we consider a mobility system of travelers and providers, and propose a "mobility game" to study when a traveler is matched to a provider. Each traveler seeks to travel using the services of only one provider, who manages one…
It is well-understood that the robustness of mechanical and robotic control systems depends critically on minimizing sensitivity to arbitrary application-specific details whenever possible. For example, if a system is defined and performs…
A Multi-Agent System is a distributed system where the agents or nodes perform complex functions that cannot be written down in analytic form. Multi-Agent Systems are highly connected, and the information they contain is mostly stored in…
In the classical stochastic resetting problem, a particle, moving according to some stochastic dynamics, undergoes random interruptions that bring it to a selected domain, and then, the process recommences. Hitherto, the resetting mechanism…
Autonomous agents are promising in applications such as intelligent transportation and smart manufacturing, and scheduling of agents has to take their inertial constraints into consideration. Most current researches require the obedience of…
Employing model predictive control to systems with unbounded, stochastic disturbances poses the challenge of guaranteeing safety, i.e., repeated feasibility and stability of the closed-loop system. Especially, there are no strict repeated…
Group behavior has received much attention as a test case of self-organization. There has been much written in recent years to investigate interactions within groups of agents. These agents can be animals moving in an interactive way, such…
We present the observation that the process of stochastic model predictive control can be formulated in the framework of iterated function systems. The latter has a rich ergodic theory that can be applied to study the system's long-run…
A novel representation of reset control systems with a zero-crossing resetting law, in the framework of hybrid inclusions, is postulated. The problems of well-posedness and stability of the resulting hybrid dynamical system are…
Game theory is the standard tool used to model strategic interactions in evolutionary biology and social science. Traditional game theory studies the equilibria of simple games. But is traditional game theory applicable if the game is…
Research on robotic manipulation has developed a diverse set of policy paradigms, including vision-language-action (VLA) models, vision-action (VA) policies, and code-based compositional approaches. Concrete policies typically attain high…
We consider the problem of efficiently simulating population protocols. In the population model, we are given a distributed system of $n$ agents modeled as identical finite-state machines. In each time step, a pair of agents is selected…
We present a method for determining optimal modes of operation for autonomously oscillating systems with uncertain parameters. In a typical application of the method, a nonlinear dynamical system is optimized with respect to an economic…
This work's purpose is to understand the dynamics of some social systems whose properties can be captured by certain iterated function systems. To achieve this intension, we start from the theory of iterated function systems, and then we…
The execution behavior of a program often depends on external resources, such as program inputs or file contents, and so cannot be run in isolation. Nevertheless, software developers benefit from fast iteration loops where automated tools…
This paper is concerned with robust instability analysis for linear multi-agent dynamical systems with cyclic structure. This relates to interesting and important periodic oscillation phenomena in biology and neuronal science, since the…
In this paper, we study the dynamics of a system of $n$ coupled, self-propelled particles: $\ddot r_k = (\alpha-\beta |\dot r_k|^2)\dot r_k - \frac{\gamma}{n}\sum_{m=1}^n(r_k-r_m)$, $r_k\in \mathbb R^2.$ Numerical experiments indicate that,…
The flocking motion control is concerned with managing the possible conflicts between local and team objectives of multi-agent systems. The overall control process guides the agents while monitoring the flock-cohesiveness and localization.…
Guiding active motion is important for targeted delivery, sensing, and search tasks. Many active systems exhibit circular swimming, ubiquitous in chemical, physical, and biological systems, that biases motion and reduces transport…