Related papers: Multi-agent Distributed Model Predictive Control w…
This paper presents a hybrid safety-critical coordination architecture for multi-agent systems operating in dense environments. While control barrier functions (CBFs) provide formal safety guarantees, decentralized implementations typically…
We address the challenge of safe control in decentralized multi-agent robotic settings, where agents use uncertain black-box models to predict other agents' trajectories. We use the recently proposed conformal decision theory to adapt the…
This paper studies a class of distributed online convex optimization problems for heterogeneous linear multi-agent systems. Agents in a network, knowing only their own outputs, need to minimize the time-varying costs through neighboring…
Multi-agent systems can be extremely efficient when working concurrently and collaboratively, e.g., for transportation, maintenance, search and rescue. Coordination of such teams often involves two aspects: (i) selecting appropriate…
This paper investigates the problem of coordinating several agents through their actions. Although the methodology applies to general scenarios, the present work focuses on a situation with an asymmetric observation structure that only…
The problem of time-constrained multi-agent task scheduling and control synthesis is addressed. We assume the existence of a high level plan which consists of a sequence of cooperative tasks, each of which is associated with a deadline and…
This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the…
An autonomous and resilient controller is proposed for leader-follower multi-agent systems under uncertainties and cyber-physical attacks. The leader is assumed non-autonomous with a nonzero control input, which allows changing the team…
In this paper, scalable controller design to achieve output synchronization for a heterogeneous discrete-time nonlinear multi-agent system is considered. The agents are assumed to exhibit potentially nonlinear dynamics but share linear…
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)…
This paper proposes Distributed Model Predictive Covariance Steering (DiMPCS) for multi-agent control under stochastic uncertainty. The scope of our approach is to blend covariance steering theory, distributed optimization and model…
We propose a shared semantic map architecture to construct and configure Model Predictive Controllers (MPC) dynamically, that solve navigation problems for multiple robotic agents sharing parts of the same environment. The navigation task…
This paper considers the problem of maintaining global connectivity of a multi-robot system while executing a desired coordination task. Our approach builds on optimization-based feedback design formulations, where the nominal cost function…
We consider the setting of agents cooperatively minimizing the sum of local objectives plus a regularizer on a graph. This paper proposes a primal-dual method in consideration of three distinctive attributes of real-life multi-agent…
Communication remains a key factor limiting the applicability of distributed model predictive control (DMPC) in realistic settings, despite advances in wireless communication. DMPC schemes can require an overwhelming amount of information…
This work presents a distributed algorithm for resolving cooperative multi-vehicle conflicts in highly constrained spaces. By formulating the conflict resolution problem as a Multi-Agent Reinforcement Learning (RL) problem, we can train a…
This paper develops a novel approach to the consensus problem of multi-agent systems by minimizing a weighted state error with neighbor agents via linear quadratic (LQ) optimal control theory. Existing consensus control algorithms only…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
This work investigates the cooperative output regulation problem of linear multi-agent systems with hybrid sampled data control. Due to the limited data sensing and communication, in many practical situations, only sampled data are…