Related papers: Large-scale, Dynamic and Distributed Coalition For…
In this paper we describe an original computational model for solving different types of Distributed Constraint Satisfaction Problems (DCSP). The proposed model is called Controller-Agents for Constraints Solving (CACS). This model is…
Control policies that can achieve high task performance and satisfy safety constraints are desirable for any system, including multi-agent systems (MAS). One promising technique for ensuring the safety of MAS is distributed control barrier…
We propose a multi-agent system that enables groups of agents to collaborate and work autonomously to execute tasks. Groups can work in a decentralized manner and can adapt to dynamic changes in the environment. Groups of agents solve…
We introduce PRISM (Pathfinding with Rapid Information Sharing using Motion Constraints), a decentralized algorithm designed to address the multi-task multi-agent pathfinding (MT-MAPF) problem. PRISM enables large teams of agents to…
In this paper, a class of convex feasibility problems (CFPs) are studied for multi-agent systems through local interactions. The objective is to search a feasible solution to the convex inequalities with some set constraints in a…
Multi-Agent Path Finding (MAPF) is a problem of finding a sequence of movements for agents to reach their assigned location without collision. Centralized algorithms usually give optimal solutions, but have difficulties to scale without…
In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…
We study the TAPF (combined target-assignment and path-finding) problem for teams of agents in known terrain, which generalizes both the anonymous and non-anonymous multi-agent path-finding problems. Each of the teams is given the same…
We consider a scenario in which leaders are required to recruit teams of followers. Each leader cannot recruit all followers, but interaction is constrained according to a bipartite network. The objective for each leader is to reach a state…
The Multi-Traveling Salesman Problem (MTSP) is a commonly used mathematical model for multi-agent task allocation. However, as the number of agents and task targets increases, existing optimization-based methods often incur prohibitive…
The Dynamic Task Assignment Problem (DTAP) concerns matching resources to tasks in real time while minimizing some objectives, like resource costs or task cycle time. In this work, we consider a DTAP variant where every task is a case…
In services such as retail audits and urban infrastructure monitoring, a platform dispatches rewarded, location-based micro-tasks to mobile workers traveling along personal origin-destination (OD) trips under hard time budgets. As requests…
Task allocation can enable effective coordination of multi-robot teams to accomplish tasks that are intractable for individual robots. However, existing approaches to task allocation often assume that task requirements or reward functions…
Given a task $\mathcal{T}$, a set of experts $V$ with multiple skills and a social network $G(V, W)$ reflecting the compatibility among the experts, team formation is the problem of identifying a team $C \subseteq V$ that is both competent…
Applications, such as military and disaster response, can benefit from robotic collectives' ability to perform multiple cooperative tasks (e.g., surveillance, damage assessments) efficiently across a large spatial area. Coalition formation…
Distributed Constraint Satisfaction (DCSP) has long been considered an important problem in multi-agent systems research. This is because many real-world problems can be represented as constraint satisfaction and these problems often…
The coalition structure formation problem represents an active research area in multi-agent systems. A coalition structure is defined as a partition of the agents involved in a system into disjoint coalitions. The problem of finding the…
In this work, we systematically examine the application of spatio-temporal splitting heuristics to the Multi-Robot Motion Planning (MRMP) problem in a graph-theoretic setting: a problem known to be NP-hard to optimally solve. Following the…
Coalition is an important mean of multi-robot systems to collaborate on common tasks. An adaptive coalition strategy is essential for the online performance in dynamic and unknown environments. In this work, the problem of territory defense…
Distributed energy systems with prosumers require new methods for coordinating energy exchange among agents. Coalitional control provides a framework in which agents form groups to cooperatively reduce costs; however, existing bottom-up…