Related papers: Combinatorial-hybrid Optimization for Multi-agent …
Coordination is a desirable feature in multi-agent systems, allowing the execution of tasks that would be impossible by individual agents. We study coordination by a team of strategic agents choosing to undertake one of the multiple tasks.…
Combinatorial contracts are emerging as a key paradigm in algorithmic contract design, paralleling the role of combinatorial auctions in algorithmic mechanism design. In this paper we study natural combinatorial contract settings involving…
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…
We introduce the concept of continuous transportation task to the context of multi-agent systems. A continuous transportation task is one in which a multi-agent team visits a number of fixed locations, picks up objects, and delivers them to…
The Koopman Operator (KO) takes nonlinear state dynamics and ``lifts'' those dynamics to an infinite-dimensional functional space of observables in which those dynamics are linear. Computational applications typically use a…
Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…
Constrained multi-agent reinforcement learning offers the framework to design scalable and almost surely feasible solutions for teams of agents operating in dynamic environments to carry out conflicting tasks. We address the challenges of…
Caching networks are designed to reduce traffic load at backhaul links, by serving demands from edge-nodes. In the past decades, many studies have been done to address the caching problem. However, in practice, finding an optimal caching…
In this work, we address the cooperation problem among large language model (LLM) based embodied agents, where agents must cooperate to achieve a common goal. Previous methods often execute actions extemporaneously and incoherently, without…
This paper presents a novel framework for ensuring safety in dynamically coupled multi-agent systems through collaborative control. Drawing inspiration from ecological models of altruism, we develop collaborative control barrier functions…
We present methods that generate cooperative strategies for multi-vehicle control problems using a decomposition approach. By introducing a set of tasks to be completed by the team of vehicles and a task execution method for each vehicle,…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
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…
Multi-agent systems can be extremely efficient when working concurrently and collaboratively, e.g., for delivery, surveillance, search and rescue. Coordination of such teams often involves two aspects: selecting appropriate subteams for…
Whether in groups of humans or groups of computer agents, collaboration is most effective between individuals who have the ability to coordinate on a joint strategy for collective action. However, in general a rational actor will only…
In the context of humans operating with artificial or autonomous agents in a hybrid team, it is essential to accurately identify when to authorize those team members to perform actions. Given past examples where humans and autonomous…
In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the…
We consider the distributed optimization problem for a multi-agent system. Here, multiple agents cooperatively optimize an objective by sharing information through a communication network and performing computations. In this tutorial, we…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Recently, a theory for stochastic optimal control in non-linear dynamical systems in continuous space-time has been developed (Kappen, 2005). We apply this theory to collaborative multi-agent systems. The agents evolve according to a given…