Related papers: Distributed Coverage Control of Multi-Agent Networ…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…
The integration of autonomous vehicles (AVs) into the existing transportation infrastructure offers a promising solution to alleviate congestion and enhance mobility. This research explores a novel approach to traffic optimization by…
We consider stochastic model predictive control of a multi-agent systems with constraints on the probabilities of inter-agent collisions. We first study a sample-based approximation of the collision probabilities and use this approximation…
Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…
We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…
This paper proposes a multi-scale method to design a continuous-time distributed algorithm for constrained convex optimization problems by using multi-agents with Markov switched network dynamics and noisy inter-agent communications. Unlike…
Autonomous vehicles are suited for continuous area patrolling problems. However, finding an optimal patrolling strategy can be challenging for many reasons. Firstly, patrolling environments are often complex and can include unknown…
We present a simple yet effective routing strategy inspired by coverage control, which delays the onset of congestion on traffic networks, by introducing a control parameter. The routing algorithm allows a trade-off between the congestion…
The development of connected and autonomous vehicles (CAVs) offers substantial opportunities to enhance traffic efficiency. However, in mixed autonomy environments where CAVs coexist with human-driven vehicles (HDVs), achieving efficient…
A multi-agent optimization problem motivated by the management of energy systems is discussed. The associated cost function is separable and convex although not necessarily strongly convex and there exist edge-based coupling equality…
In this paper, we present a decentralized and communication-free collision avoidance approach for multi-robot systems that accounts for both robot localization and sensing uncertainties. The approach relies on the computation of an…
This work presents a distributed algorithm for resolving cooperative multi-vehicle conflicts in highly constrained spaces. By formulating the conflict resolution problem as a Multi-Agent Reinforcement Learning (RL) problem, we can train a…
In this paper, we consider distributed optimization problems over a multi-agent network, where each agent can only partially evaluate the objective function, and it is allowed to exchange messages with its immediate neighbors. Differently…
Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. Such deadlocks frequently occur when multiple agents attempt to traverse…
Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding…
In order to guide the multi-agent system in a cluttered environment, a connected quadrangle virtual tube is designed for all agents to keep moving within it, whose basis is called the single trapezoid virtual tube. There is no obstacle…
Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
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,…