Related papers: Reactive Multi-agent Coordination using Auction-ba…
In urban planning, land use readjustment plays a pivotal role in aligning land use configurations with the current demands for sustainable urban development. However, present-day urban planning practices face two main issues. Firstly, land…
As large language model (LLM)-based multi-agent systems scale to handle increasingly complex tasks, balancing structural stability and dynamic adaptability becomes increasingly challenging. Existing systems typically adopt either…
In this work we consider a generalization of the well-known multivehicle routing problem: given a network, a set of agents occupying a subset of its nodes, and a set of tasks, we seek a minimum cost sequence of movements subject to the…
This paper proposes a scalable decentralized safety filter for multi-agent systems based on high-order control barrier functions (HOCBFs) and auction-based responsibility allocation. While decentralized HOCBF formulations ensure pairwise…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
We consider the general problem of geometric task allocation, wherein a large, decentralised swarm of simple mobile agents must detect the locations of tasks in the plane and position themselves nearby. The tasks are represented by an a…
We introduce a new Multi-Agent System (MAS) - Allen, designed to address two core challenges in current MAS design: (1) improve system's policy autonomy, empowering agents to dynamically adapt their behavioral strategies, and (2) achieving…
In this paper we outline the approach of solving special type of navigation tasks for robotic systems, when a coalition of robots (agents) acts in the 2D environment, which can be modified by the actions, and share the same goal location.…
Coordination between organizations on strategic, tactical and operation levels leads to more effective and efficient supply chains. Supply chain management is increasing day by day in modern enterprises. The environment is becoming…
Autonomous driving system aims for safe and social-consistent driving through the behavioral integration among interactive agents. However, challenges remain due to multi-agent scene uncertainty and heterogeneous interaction. Current dense…
This paper reports a new hierarchical architecture for modeling autonomous multi-robot systems (MRSs): a nonlinear dynamical opinion process is used to model high-level group choice, and multi-objective behavior optimization is used to…
This paper studies the consensus problem of multi-agent systems with asymmetric and reducible topologies. Centralized event-triggered rules are provided so as to reduce the frequency of system's updating. The diffusion coupling feedbacks of…
Many multi-agent coordination problems can be represented as DCOPs. Motivated by task allocation in disaster response, we extend standard DCOP models to consider uncertain task rewards where the outcome of completing a task depends on its…
In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node…
Tree-structured multi-task architectures have been employed to jointly tackle multiple vision tasks in the context of multi-task learning (MTL). The major challenge is to determine where to branch out for each task given a backbone model to…
Our goal is to solve both problems of adverse selection and moral hazard for multi-agent projects. In our model, each selected agent can work according to his private "capability tree". This means a process involving hidden actions, hidden…
We consider the problem of finding a low-cost allocation and ordering of tasks between a team of robots in a d-dimensional, uncertain, landscape, and the sensitivity of this solution to changes in the cost function. Various algorithms have…
The COVID-19 pandemic brings many unexpected disruptions, such as frequently shifting markets and limited human workforce, to manufacturers. To stay competitive, flexible and real-time manufacturing decision-making strategies are needed to…
This paper addresses key challenges in task scheduling for multi-tenant distributed systems, including dynamic resource variation, heterogeneous tenant demands, and fairness assurance. An adaptive scheduling method based on reinforcement…
We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination, and (c) cooperation through the formation of robot…