Related papers: Robust Performance Analysis for Time-Varying Multi…
This note is devoted to the distributed optimization problem of multi-agent systems with nonconvex velocity constraints, nonuniform position constraints and nonuniform stepsizes. Two distributed constrained algorithms with nonconvex…
We present an approach to reduce the communication required between agents in a Multi-Agent learning system by exploiting the inherent robustness of the underlying Markov Decision Process. We compute so-called robustness surrogate functions…
In this paper, we investigate a constrained optimal coordination problem for a class of heterogeneous nonlinear multi-agent systems described by high-order dynamics subject to both unknown nonlinearities and external disturbances. Each…
This paper addresses decentralized control of large-scale heterogeneous multi-agent systems subject to bounded external disturbances and limited communication, with the objective of satisfying cooperative Signal Temporal Logic (STL)…
In recent years, a significant research effort has been devoted to the design of distributed protocols for the control of multi-agent systems, as the scale and limited communication bandwidth characteristic of such systems render…
We consider the problem of synthesizing resilient and stochastically stable strategies for systems of cooperating agents striving to minimize the expected time between consecutive visits to selected locations in a known environment. A…
Based on stochastic differential equations (SDEs), we analyse the overall performance of heterogeneous power systems network, subject to spatially distributed and correlated noise with random initial conditions. We determine bounds on the…
While multi-agent trust region algorithms have achieved great success empirically in solving coordination tasks, most of them, however, suffer from a non-stationarity problem since agents update their policies simultaneously. In contrast, a…
This paper addresses the robust consensus problem under switching topologies. Contrary to existing methods, the proposed approach provides decentralized protocols that achieve consensus for networked multi-agent systems in a predefined…
We investigate the probabilistic feasibility of randomized solutions to two distinct classes of uncertain multi-agent optimization programs. We first assume that only the constraints of the program are affected by uncertainty, while the…
We study a multi-agent output regulation problem, where not all agents have access to the exosystem's dynamics. We propose a fully distributed controller that solves the problem for linear, heterogeneous, and uncertain agent dynamics as…
A group behavior of a heterogeneous multi-agent system is studied which obeys an "average of individual vector fields" under strong couplings among the agents. Under stability of the averaged dynamics (not asking stability of individual…
In this paper, we consider the $\mathcal{H}_2$-norm of networked systems with multi-time scale consensus dynamics and vector-valued agent states. This allows us to explore how measurement and process noise affect consensus on…
In recent times, various distributed optimization algorithms have been proposed for whose specific agent dynamics global optimality and convergence is proven. However, there exist no general conditions for the design of such algorithms. In…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
In this paper we consider the $\mathcal{H}_2$-norm of networked systems with multi-time scale consensus dynamics. We develop a general framework for such systems that allows for edge weighting, independent agent-based time scales, as well…
Robustness of a distributed computing system is defined as the ability to maintain its performance in the presence of uncertain parameters. Uncertainty is a key problem in heterogeneous (and even homogeneous) distributed computing systems…
The problem of assigning agents to tasks is a central computational challenge in many multi-agent autonomous systems. However, in the real world, agents are not always perfect and may fail due to a number of reasons. A motivating…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
This paper deals with the problem of formulating an adaptive Model Predictive Control strategy for constrained uncertain systems. We consider a linear system, in presence of bounded time varying additive uncertainty. The uncertainty is…