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This paper proposes a novel algorithm, named quantum multi-agent actor-critic networks (QMACN) for autonomously constructing a robust mobile access system employing multiple unmanned aerial vehicles (UAVs). In the context of facilitating…
Iterative linear-quadratic (ILQ) methods are widely used in the nonlinear optimal control community. Recent work has applied similar methodology in the setting of multiplayer general-sum differential games. Here, ILQ methods are capable of…
This paper focuses on formally verifying invariant properties of control programs both at the model and code levels. The physical process is described by an uncertain discrete-time state-space system, where the dependence of the state-space…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
We propose a simple and computationally efficient approach for designing a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertainty is modeled as an additive disturbance and an additive error on the…
The distributed coordination problem of multi-agent systems is addressed in this paper under the assumption of intermittent communication between agents in the presence of time-varying communication delays. Specifically, we consider the…
In this note, a novel observer-based output feedback control approach is proposed to address the distributed optimal output consensus problem of uncertain nonlinear multi-agent systems in the normal form over unbalanced directed graphs. The…
We study the problem of policy synthesis for uncertain partially observable Markov decision processes (uPOMDPs). The transition probability function of uPOMDPs is only known to belong to a so-called uncertainty set, for instance in the form…
This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic Programs (QPs) for online constrained control. Based on the duality principle, we first show that the feasibility of a QP can be determined…
Controllability of multi-agent systems is determined by the interconnection topologies. In practice, losing agents can change the topologies of multi-agent systems, which may affect the controllability. This paper studies non-fragility of…
This paper examines mean field linear-quadratic-Gaussian (LQG) social optimum control with volatility-uncertain common noise. The diffusion terms in the dynamics of agents contain an unknown volatility process driven by a common noise. We…
This paper presents a new method for achieving dynamic consensus in linear discrete-time homogeneous multi-agent systems (MAS) with marginally stable or unstable dynamics. The guarantee of consensus in this setting involves a set of…
Unmanned Aerial Vehicles (UAVs) have been increasingly used in the context of remote sensing missions such as target search and tracking, mapping, or surveillance monitoring. In the first part of our paper we consider agent dynamics,…
This paper studies the containment control problem of multi-agent systems with multiple dynamic leaders in both the discrete-time domain and the continuous-time domain. The leaders' motions are described by $(n-1)$-order polynomial…
Decentralized multi-agent navigation under uncertainty is a complex task that arises in numerous robotic applications. It requires collision avoidance strategies that account for both kinematic constraints, sensing and action execution…
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…
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…
Recent work by Mania et al. has proved that certainty equivalent control achieves nearly optimal regret for linear systems with quadratic costs. However, when parameter uncertainty is large, certainty equivalence cannot be relied upon to…
In this paper, we present a distributed algorithm utilizing the proximal alternating direction method of multipliers (ADMM) in conjunction with sequential constraint tightening to address mixed-integer quadratic programming (MIQP) problems…
Many problems in robotics involve multiple decision making agents. To operate efficiently in such settings, a robot must reason about the impact of its decisions on the behavior of other agents. Differential games offer an expressive…