Related papers: Multi-Agent Shape Control with Optimal Transport

This paper introduces a novel approach to solve the coverage optimization problem in multi-agent systems. The proposed technique offers an optimal solution with a lower cost with respect to conventional Voronoi-based techniques by…

Many living and physical systems such as cell aggregates, tissues or bacterial colonies behave as unconventional systems of particles that are strongly constrained by volume exclusion and shape interactions. Understanding how these…

In this paper we consider an optimal control problem for a large population of interacting agents with deterministic dynamics, aggregating potential and constraints on reciprocal distances, in dimension 1. We study existence and qualitative…

Flocking behavior has attracted considerable attention in multi-agent systems. The structure of flocking has been predominantly studied through the application of artificial potential fields coupled with velocity consensus. These…

In this paper, we present a machine learning approach to move a group of robots in a formation. We model the problem as a multi-agent reinforcement learning problem. Our aim is to design a control policy for maintaining a desired formation…

Many real-world multi-agent systems exhibit nonlinear dynamics and complex inter-agent interactions. As these systems increase in scale, the main challenges arise from achieving scalability and handling nonconvexity. To address these…

We address the persistent monitoring problem in two-dimensional mission spaces where the objective is to control the trajectories of multiple cooperating agents to minimize an uncertainty metric. In a one-dimensional mission space, we have…

The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…

We address the motion planning problem for large multi-agent systems, utilizing Cosserat rod theory to model the dynamic behavior of vehicle formations. The problem is formulated as an optimal control problem over partial differential…

This extended abstracts presents a method to generate energy-optimal trajectories for multi-agent systems as a strategic-form game. Using recent results in optimal control, we demonstrate that an energy-optimal trajectory can be generated…

How to free a road from vehicle traffic as efficiently as possible and in a given time, in order to allow for example the passage of emergency vehicles? We are interested in this question which we reformulate as an optimal control problem.…

A method of optimal control computation is proposed for problems with control and state constraints. It uses a sequence of control structure adjustments in the form of generations and reductions of nodes and arcs, which do not change the…

This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…

An agent's functionality is largely determined by its design, i.e., skeletal structure and joint attributes (e.g., length, size, strength). However, finding the optimal agent design for a given function is extremely challenging since the…

We present a 2-step optimal transport approach that performs a mapping from a source distribution to a target distribution. Here, the target has the particularity to present new classes not present in the source domain. The first step of…

Multi-agent pathfinding (MAPF) is concerned with planning collision-free paths for a team of agents from their start to goal locations in an environment cluttered with obstacles. Typical approaches for MAPF consider the locations of…

The purpose of this review paper is to present some recent results on the modeling and control of large systems of agents. We focus on particular applications where the agents are capable of independent actions instead of simply reacting to…

Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics, requiring the computation of collision-free paths for multiple agents moving from their respective start to goal positions. Coordinating multiple agents in a shared…

The optimal transport problem has many applications in machine learning, physics, biology, economics, etc. Although its goal is very clear and mathematically well-defined, finding its optimal solution can be challenging for large datasets…

One of the fundamental problems in spacecraft trajectory design is finding the optimal transfer trajectory that minimizes the propellant consumption and transfer time simultaneously. We formulate this as a multi-objective optimal control…