Related papers: Robust MADER: Decentralized Multiagent Trajectory …
This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
Autonomous navigation of mobile robots is a well studied problem in robotics. However, the navigation task becomes challenging when multi-robot systems have to cooperatively navigate dynamic environments with deadlock-prone layouts. We…
Avoiding collisions is the core problem in multi-agent navigation. In decentralized settings, when agents have limited communication and sensory capabilities, collisions are typically avoided in a reactive fashion, relying on local…
This paper addresses the problem of optimizing communicated information among heterogeneous, resource-aware robot teams to facilitate their navigation. In such operations, a mobile robot compresses its local map to assist another robot in…
Multicopter swarms with decentralized structure possess the nature of flexibility and robustness, while efficient spatial-temporal trajectory planning still remains a challenge. This report introduces decentralized spatial-temporal…
Multi-Agent Path Finding (MAPF) in crowded environments presents a challenging problem in motion planning, aiming to find collision-free paths for all agents in the system. MAPF finds a wide range of applications in various domains,…
Continuous-time primal-dual gradient dynamics (PDGD) is an ubiquitous approach for dynamically solving constrained distributed optimization problems. Yet, the distributed nature of the dynamics makes it prone to communication uncertainties,…
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. Existing methods often suffer from insufficient uncertainty…
This article presents a novel multi-agent spatial transformer (MAST) for learning communication policies in large-scale decentralized and collaborative multi-robot systems (DC-MRS). Challenges in collaboration in DC-MRS arise from: (i)…
Recent studies in multi-agent communicative reinforcement learning (MACRL) have demonstrated that multi-agent coordination can be greatly improved by allowing communication between agents. Meanwhile, adversarial machine learning (ML) has…
Multi-user delay constrained scheduling is important in many real-world applications including wireless communication, live streaming, and cloud computing. Yet, it poses a critical challenge since the scheduler needs to make real-time…
Non-ideal communication links, especially delays, critically affect fast networked controls in power systems, such as the wide-area damping control (WADC). Traditionally, a delay estimation and compensation approach is adopted to address…
Latency is inherent in almost all real-world networked applications. In this paper, we propose a distributed allocation strategy over multi-agent networks with delayed communications. The state of each agent (or node) represents its share…
We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a trad-off: online planners and controllers lack formal safety…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
This paper focuses on consensus problems for high-order, linear multi-agent systems. Undirected communication topologies and fixed, uniform communication time delay are taken into account. This class of problems has been widely study in the…
We study a sequential mechanism design problem in which a principal seeks to elicit truthful reports from multiple rational agents while starting with no prior knowledge of agents' beliefs. We introduce Distributionally Robust Adaptive…
We present an end-to-end online motion planning framework that uses a data-driven approach to navigate a heterogeneous robot team towards a global goal while avoiding obstacles in uncertain environments. First, we use stochastic model…
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distributed navigation algorithm certified by control barrier…
The innovation of Wi-Fi 6, IEEE 802.11ax, was be approved as the next sixth-generation (6G) technology of wireless local area networks (WLANs) by improving the fundamental performance of latency, throughput, and so on. The main technical…