Related papers: Heterogeneous Embodied Multi-Agent Collaboration
Systems integration is a difficult matter particularly when its components are varied. The problem becomes even more difficult when such components are heterogeneous such as humans, robots and software systems. Currently, the humans are…
Embodied AI is a recent research area that aims at creating intelligent agents that can move and operate inside an environment. Existing approaches in this field demand the agents to act in completely new and unexplored scenes. However,…
In multi-agent cooperative tasks, the presence of heterogeneous agents is familiar. Compared to cooperation among homogeneous agents, collaboration requires considering the best-suited sub-tasks for each agent. However, the operation of…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
AI agents today are mostly siloed - they either retrieve and reason over vast amount of digital information and knowledge obtained online; or interact with the physical world through embodied perception, planning and action - but rarely…
Visual planning methods are promising to handle complex settings where extracting the system state is challenging. However, none of the existing works tackles the case of multiple heterogeneous agents which are characterized by different…
While sequential task assignment for a single agent has been widely studied, such problems in a multi-agent setting, where the agents have heterogeneous task preferences or capabilities, remain less well-characterized. We study a…
Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…
Computational models of collaboration without prior coordination often overlook how heterogeneous agent traits and complex task structures jointly produce systemic bottlenecks, inefficiencies, and contribution inequalities. We address this…
Multi-robot systems performing continuous tasks face a performance trade-off when interrupted by urgent, time-critical sub-tasks. We investigate this trade-off in a scenario where a team must balance area patrolling with locating an…
Heterogeneous multi-robot systems (HMRS) have emerged as a powerful approach for tackling complex tasks that single robots cannot manage alone. Current large-language-model-based multi-agent systems (LLM-based MAS) have shown success in…
We propose Teamwork Synthesis, a version of the distributed synthesis problem with application to teamwork multi-agent systems. We reformulate the distributed synthesis question by dropping the fixed interaction architecture among agents as…
This paper addresses the limitations of a single agent in task decomposition and collaboration during complex task execution, and proposes a multi-agent architecture for modular task decomposition and dynamic collaboration based on large…
This work addresses the problem of analyzing cooperation in heterogeneous multi-agent systems which operate under partial observability and temporal role dependency, framed within a destructive multi-agent foraging setting. Unlike most…
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…
There has been a significant recent progress in the field of Embodied AI with researchers developing models and algorithms enabling embodied agents to navigate and interact within completely unseen environments. In this paper, we propose a…
Contemporary multi-agent systems encounter persistent challenges in cross-platform interoperability, dynamic task scheduling, and efficient resource sharing. Agents with heterogeneous implementations often lack standardized interfaces;…
Embodied artificial intelligence (Embodied AI) plays a pivotal role in the application of advanced technologies in the intelligent era, where AI systems are integrated with physical bodies that enable them to perceive, reason, and interact…
The behavior of heterogeneous multi-agent systems is studied when the coupling matrices are possibly all different and/or singular, that is, its rank is less than the system dimension. Rank-deficient coupling allows exchange of limited…