Related papers: Multi-Layer Continuum Deformation Optimization of …

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…

This paper proposes a fully data-driven motion-planning framework for homogeneous linear multi-agent systems that operate in shared, obstacle-filled workspaces without access to explicit system models. Each agent independently learns its…

In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…

Although communication delays can disrupt multiagent systems, most of the existing multiagent trajectory planners lack a strategy to address this issue. State-of-the-art approaches typically assume perfect communication environments, which…

Adaptive multi-agent formation control, which requires the formation to flexibly adjust along with the quantity variations of agents in a decentralized manner, belongs to one of the most challenging issues in multi-agent systems, especially…

This paper addresses the challenges of rapid resource variation and highly uncertain task loads in cloud computing environments. It proposes an optimization method for elastic cloud resource scaling based on a multi-agent system. The method…

Communication delays can be catastrophic for multiagent systems. However, most existing state-of-the-art multiagent trajectory planners assume perfect communication and therefore lack a strategy to rectify this issue in real-world…

This paper studies an optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, the consensus point is further required to an optimal solution to some…

To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadlocks, and scale to thousands of agents. Current approaches…

Reliability is a critical aspect of multi-agent system coordination as it ensures that the system functions correctly and consistently. If one agent in the system fails or behaves unexpectedly, it can negatively impact the performance and…

Multi-Agent Motion Planning (MAMP) is the problem of computing feasible paths for a set of agents given individual start and goal states. Given the hardness of MAMP, most of the research related to multi-agent systems has focused on…

The inherent non-convexity of poriferous surfaces typically entraps agents in local minima and complicates workload distribution. To resolve this, we propose a distributed diffeomorphic coverage control framework for the multi-agent system…

Motion planning and control problems are embedded and essential in almost all robotics applications. These problems are often formulated as stochastic optimal control problems and solved using dynamic programming algorithms. Unfortunately,…

Many real-world multi-agent systems exhibit nonlinear dynamics and complex inter-agent interactions. As these systems increase in scale, the main challenges arise from achieving scalability and handling nonconvexity. To address these…

This paper addresses a formation tracking problem for nonlinear multi-agent systems with time-varying actuator faults, in which only a subset of agents has access to the leader's information over the directed leader-follower network with a…

Solving an output consensus problem in multi-agent systems is often hindered by multiple time-variant delays. To address such fundamental problems over time, we present a new optimal time-variant distributed control for linearly perturbed…

We propose a method for analyzing the distributed random coordinate descent algorithm for solving separable resource allocation problems in the context of an open multiagent system, where agents can be replaced during the process. In…

This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…

In this paper, a distributed convex optimization problem with swarm tracking behavior is studied for continuous-time multi-agent systems. The agents' task is to drive their center to track an optimal trajectory which minimizes the sum of…

Multi-agent coordination studies the underlying mechanism enabling the trending spread of diverse multi-agent systems (MAS) and has received increasing attention, driven by the expansion of emerging applications and rapid AI advances. This…