Related papers: Multi-agent system for target tracking on a sphere…

This paper introduces a novel distributed consensus-based observer design that enables a group of agents in an undirected communication network to solve the problem of target tracking, where the target is modelled as a chain of integrators…

This work considers the problem of intercepting rogue drones targeting sensitive critical infrastructure facilities. While current interception technologies focus mainly on the jamming/spoofing tasks, the challenges of effectively locating…

In multi-agent applications such as surveillance and logistics, fleets of mobile agents are often expected to coordinate and safely visit a large number of goal locations as efficiently as possible. The multi-agent planning problem in these…

In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…

This paper studies the phase balancing of a two and three-agent system where the agents are coupled through heterogeneous controller gains. Balancing refers to the situation in which the movement of agents causes the position of their…

This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…

The task of rendezvous (also called {\em gathering}) calls for a meeting of two or more mobile entities, starting from different positions in some environment. Those entities are called mobile agents or robots, and the environment can be a…

Social robot navigation in crowded public spaces such as university campuses, restaurants, grocery stores, and hospitals, is an increasingly important area of research. One of the core strategies for achieving this goal is to understand…

This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…

The paper considers event-triggered leader-follower tracking control for multi-agent systems with general linear dynamics. For both undirected and directed follower graphs, we propose event triggering rules which guarantee bounded tracking…

Multi-swarm systems, where two or more swarms of mobile agents occupy the same region of space with different parameters and goals, occur in a variety of biological, engineering, and defense applications. Composites of multiple swarms can…

In a multi-agent setting, the optimal policy of a single agent is largely dependent on the behavior of other agents. We investigate the problem of multi-agent reinforcement learning, focusing on decentralized learning in non-stationary…

Achieving high-performance in multi-object tracking algorithms heavily relies on modeling spatio-temporal relationships during the data association stage. Mainstream approaches encompass rule-based and deep learning-based methods for…

This paper considers the data association problem for multi-target tracking. Multiple hypothesis tracking is a popular algorithm for solving this problem but it is NP-hard and is is quite complicated for a large number of targets or for…

We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…

Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…

This paper focuses on a multi-agent zeroth-order online optimization problem in a federated learning setting for target tracking. The agents only sense their current distances to their targets and aim to maintain a minimum safe distance…

We consider a multi-agent reinforcement learning problem where each agent seeks to maximize a shared reward while interacting with other agents, and they may or may not be able to communicate. Typically the agents do not have access to…

Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents maneuvering in the vicinity of multiple moving entities (e.g. other…

The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…