Related papers: Team Coordination on Graphs with State-Dependent E…
Among the most prevalent motion planning techniques, sampling and trajectory optimization have emerged successful due to their ability to handle tight constraints and high-dimensional systems, respectively. However, limitations in sampling…
Travel sharing, i.e., the problem of finding parts of routes which can be shared by several travellers with different points of departure and destinations, is a complex multiagent problem that requires taking into account individual agents'…
This paper considers the leader-follower control problem for a linear multi-agent system with directed communication topology and linear nonidentical uncertain coupling subject to integral quadratic constraints (IQCs). A consensus-type…
In the graph exploration problem, a team of mobile computational entities, called agents, arbitrarily positioned at some nodes of a graph, must cooperate so that each node is eventually visited by at least one agent. In the literature, the…
In an edge-colored graph, a traversal cost occurs at a vertex along a path when consecutive edges with different colors are traversed. The value of the traversal cost depends only on the colors of the traversed edges. This concept leads to…
Open ad hoc teamwork is the problem of training a single agent to efficiently collaborate with an unknown group of teammates whose composition may change over time. A variable team composition creates challenges for the agent, such as the…
We study the problem of online Multi-Agent Pickup and Delivery (MAPD), where a team of agents must repeatedly serve dynamically appearing tasks on a shared map. Existing online methods either rely on simple heuristics, which result in poor…
We consider team zero-sum network congestion games with $n$ agents playing against $k$ interceptors over a graph $G$. The agents aim to minimize their collective cost of sending traffic over paths in $G$, which is an aggregation of edge…
This paper formulates a multitask optimization problem where agents in the network have individual objectives to meet, or individual parameter vectors to estimate, subject to a smoothness condition over the graph. The smoothness condition…
Modular vehicles present a novel area of academic and industrial interest in the field of multi-agent systems. Modularity allows vehicles to connect and disconnect with each other mid-transit which provides a balance between efficiency and…
This work introduces a novel algorithm for finding the connected components of a graph where the vertices and edges are grouped into sets defining a Set--Based Graph. The algorithm, under certain restrictions on those sets, has the…
This paper considers a distributed convex optimization problem over a time-varying multi-agent network, where each agent has its own decision variables that should be set so as to minimize its individual objective subject to local…
Coalition structure generation (CSG), i.e. the problem of optimally partitioning a set of agents into coalitions to maximize social welfare, is a fundamental computational problem in multiagent systems. This problem is important for many…
We study a large-scale patrol problem with state-dependent costs and multi-agent coordination.We consider heterogeneous agents, rather general reward functions, and the capabilities of tracking agents' trajectories.Given the complexity and…
Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic arm manipulating objects on a cluttered table top.…
Graph partition is a key component to achieve workload balance and reduce job completion time in parallel graph processing systems. Among the various partition strategies, edge partition has demonstrated more promising performance in…
Multi-Agent Path Finding (MAPF) is a fundamental motion coordination problem arising in multi-agent systems with a wide range of applications. The problem's intractability has led to extensive research on improving the scalability of…
Planning for ad hoc teamwork is challenging because it involves agents collaborating without any prior coordination or communication. The focus is on principled methods for a single agent to cooperate with others. This motivates…
A cyber security problem in a networked system formulated as a resilient graph problem based on a game-theoretic approach is considered. The connectivity of the underlying graph of the network system is reduced by an attacker who removes…
The coordination between agents in multi-agent systems has become a popular topic in many fields. To catch the inner relationship between agents, the graph structure is combined with existing methods and improves the results. But in…