Related papers: Robust MADER: Decentralized Multiagent Trajectory …
Most multi-agent systems rely exclusively on autoregressive language models (ARMs) that are based on sequential generation. Although effective for fluent text, ARMs limit global reasoning and plan revision. On the other hand, Discrete…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
Multi-agent debate (MAD) systems leverage collective intelligence to enhance reasoning capabilities, yet existing approaches struggle to simultaneously optimize accuracy, consensus formation, and computational efficiency. Static topology…
This work is concerned with the problem of planning trajectories and assigning tasks for a Multi-Agent System (MAS) comprised of differential drive robots. We propose a multirate hierarchical control structure that employs a planner based…
This paper identifies a property of delay-robustness in distributed supervisory control of discrete-event systems (DES) with communication delays. In previous work a distributed supervisory control problem has been investigated on the…
Cooperative Adaptive Cruise Control (CACC) represents a quintessential control strategy for orchestrating vehicular platoon movement within Connected and Automated Vehicle (CAV) systems, significantly enhancing traffic efficiency and…
Recently we studied communication delay in distributed control of untimed discrete-event systems based on supervisor localization. We proposed a property called delay-robustness: the overall system behavior controlled by distributed…
Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal…
In this paper, we study the cooperative robust output regulation problem for linear uncertain multi-agent systems with both communication delay and input delay by the distributed internal model approach. The problem includes the…
We propose a distributed planning method with asynchronous execution for multi-agent pickup and delivery (MAPD) problems for environments with occasional delays in agents' activities and flexible endpoints. MAPD is a crucial problem…
This paper studies the formation stabilization problem of asynchronous nonlinear multi-agent systems (MAS) subject to parametric uncertainties, external disturbances and bounded time-varying communication delays. A self-triggered min-max…
Efficient path planning for unmanned aerial vehicles (UAVs) is crucial in remote sensing and information collection. As task scales expand, the cooperative deployment of multiple UAVs significantly improves information collection…
For multiple Unmanned-Aerial-Vehicles (UAVs) assisted Mobile Edge Computing (MEC) networks, we study the problem of combined computation and communication for user equipments deployed with multi-type tasks. Specifically, we consider that…
Solving a collision-aware multi-agent mission planning (task allocation and path finding) problem is challenging due to the requirement of real-time computational performance, scalability, and capability of handling static/dynamic obstacles…
This work studies the problem of distributed optimization in heterogeneous linear multi-agent systems. Instead of relying on a perfect communication network as in many existing distributed optimization approaches, we considered two…
Achieving joint objectives by teams of cooperative planning agents requires significant coordination and communication efforts. For a single-agent system facing a plan failure in a dynamic environment, arguably, attempts to repair the…
Multi-agent systems (MAS) powered by Large Language Models (LLMs) have been demonstrated to push the boundaries of LLM capabilities, yet they often incur significant costs and face challenges in dynamic LLM selection. Current LLM routing…
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes costs in terms of restricted robot mobility, resulting in…
The integrated satellite-terrestrial network (ISTN) system has experienced significant growth, offering seamless communication services in remote areas with limited terrestrial infrastructure. However, designing a routing scheme for ISTN is…
Communication is supposed to improve multi-agent collaboration and overall performance in cooperative Multi-agent reinforcement learning (MARL). However, such improvements are prevalently limited in practice since most existing…