Related papers: Distributed goal assignment strategy for improving…
We introduce and develop the concept of dispersion formation control, bridging a gap between shape-assembly studies in physics and biology and formation control theory. In current formation control studies, the control objectives typically…
In this paper, both the fixed-time distributed consensus tracking and the fixed-time distributed average tracking problems for double-integrator-type multi-agent systems with bounded input disturbances are studied, respectively. Firstly, a…
In this paper, a novel distributed optimization framework has been proposed. The key idea is to convert optimization problems into optimal control problems where the objective of each agent is to design the current control input minimizing…
We present a framework combining hierarchical and multi-agent deep reinforcement learning approaches to solve coordination problems among a multitude of agents using a semi-decentralized model. The framework extends the multi-agent learning…
This paper deals with distributed policy optimization in reinforcement learning, which involves a central controller and a group of learners. In particular, two typical settings encountered in several applications are considered:…
The objective is to design distributed coordination strategies for a network of agents in a cyber-physical environment. In particular, we concentrate on the rendez-vous of agents having double-integrator dynamics with the addition of a…
Inspired by the great success of machine learning in the past decade, people have been thinking about the possibility of improving the theoretical results by exploring data distribution. In this paper, we revisit a fundamental problem…
The central result of this paper is the analysis of an optimization problem which allows one to assess the limiting performance of a team of two agents who coordinate their actions. One agent is fully informed about the past and future…
This paper addresses the distributed consensus protocol design problem for linear multi-agent systems with directed graphs and external unmatched disturbances. A novel distributed adaptive consensus protocol is proposed to achieve…
This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…
A novel strategy aimed at cooperatively differentiating a signal among multiple interacting agents is introduced, where none of the agents needs to know which agent is the leader, i.e. the one producing the signal to be differentiated.…
This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on…
Large scale systems are forecasted to greatly impact our future lives thanks to their wide ranging applications including cooperative robotics, mobility on demand, resource allocation, supply chain management. While technological…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
This paper introduces a novel algorithm for multiagent offline trajectory generation based on distributed model predictive control. Central to the algorithm's scalability and success is the development of an on-demand collision avoidance…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…
This work investigates a reduced-complexity adaptive methodology to consensus tracking for a team of uncertain high-order nonlinear systems with switched (possibly asynchronous) dynamics. It is well known that high-order nonlinear systems…
This paper investigates the problem of consensus tracking control of discrete time multi-agent systems under binary-valued communication. Different from most existing studies on consensus tracking, the transmitted information between agents…
We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers toward a desired spatial distribution. Unlike prior work, we…