Related papers: Deep and Decentralized Multi-Agent Coverage of a T…
Learning cooperative policies for multi-agent systems is often challenged by partial observability and a lack of coordination. In some settings, the structure of a problem allows a distributed solution with limited communication. Here, we…
This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to achieve consensus. We investigate the distributed adaptive…
In multi-agent systems, strong connectivity of the communication network is often crucial for establishing consensus protocols, which underpin numerous applications in decision-making and distributed optimization. However, this connectivity…
A graph theoretic framework recently has been proposed to stabilize interconnected multiagent systems in a distributed fashion, while systematically capturing the architectural aspect of cyber-physical systems with separate agent or…
Current approaches to multi-agent cooperation rely heavily on centralized mechanisms or explicit communication protocols to ensure convergence. This paper studies the problem of distributed multi-agent learning without resorting to…
In this work, we study the problem where a group of mobile agents needs to reach a set of goal locations, but it does not matter which agent reaches a specific goal. Unlike most of the existing works on this topic that typically assume the…
While multi-agent interactions can be naturally modeled as a graph, the environment has traditionally been considered as a black box. We propose to create a shared agent-entity graph, where agents and environmental entities form vertices,…
This paper studies the tracking control problem of networked multi-agent systems under both multiple networks and event-triggered mechanisms. Multiple networks are to connect multiple agents and reference systems with decentralized…
This paper addresses the coverage control problem of multi-agent systems in the uncertain environment. With the aid of Voronoi partition, a distributed coverage control formulation of multi-agent system is proposed to complete the workload…
Multi-agent planning in stochastic environments can be framed formally as a decentralized Markov decision problem. Many real-life distributed problems that arise in manufacturing, multi-robot coordination and information gathering scenarios…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
High-speed, low-latency obstacle avoidance that is insensitive to sensor noise is essential for enabling multiple decentralized robots to function reliably in cluttered and dynamic environments. While other distributed multi-agent collision…
In this note, a novel observer-based output feedback control approach is proposed to address the distributed optimal output consensus problem of uncertain nonlinear multi-agent systems in the normal form over unbalanced directed graphs. The…
Multi-agents systems communication is a technology, which provides a way for multiple interacting intelligent agents to communicate with each other and with environment. Multiple-agent systems are used to solve problems that are difficult…
Autonomous Unmanned Aerial Vehicle (UAV) swarms are increasingly used as rapidly deployable aerial relays and sensing platforms, yet practical deployments must operate under partial observability and intermittent peer-to-peer links. We…
Multi-agent systems outperform single agent in complex collaborative tasks. However, in large-scale scenarios, ensuring timely information exchange during decentralized task execution remains a challenge. This work presents an online…
We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…
We study the multi-agent safe control problem where agents should avoid collisions to static obstacles and collisions with each other while reaching their goals. Our core idea is to learn the multi-agent control policy jointly with learning…
This paper considers a distributed reinforcement learning problem in which a network of multiple agents aim to cooperatively maximize the globally averaged return through communication with only local neighbors. A randomized…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the…