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Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…
The paper addresses the synchronization of multi-agent systems with continuous-time dynamics interacting through a very general class of monotonic continuous signal functions that covers estimation biases, approximation of discrete…
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…
This paper deals with the problem of covariance stabilization for a class of linear stochastic discrete-time systems in the Stochastic Model Predictive Control (SMPC) framework. The considered systems are affected by independent and…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…
This paper addresses the bipartite consensus-control problem in open multi-agent systems containing both cooperative and antagonistic interactions. In these systems, new agents can join and new interactions can be formed over time.…
This paper studies a stabilization problem for linear MIMO systems subject to external perturbation that further requires the closed-loop system render a specified gain from the external perturbation to the output. The problem arises from…
This article deals with model- and data-based consensus control of heterogenous leader-following multi-agent systems (MASs) under an event-triggering transmission scheme. A dynamic periodic transmission protocol is developed to…
Active-passive multiagent systems consist of agents subject to inputs (active agents) and agents with no inputs (passive agents), where active and passive agent roles are considered to be interchangeable in order to capture a wide array of…
A set of N independent Gaussian linear time invariant systems is observed by M sensors whose task is to provide the best possible steady-state causal minimum mean square estimate of the state of the systems, in addition to minimizing a…
Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payload. When the MAS has to deal with active obstacles in a…
Multi-agent systems (MAS) decompose complex tasks and delegate subtasks to different large language model (LLM) agents and tools. Prior studies have reported the superior accuracy performance of MAS across diverse domains, enabled by…
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…
This paper considers a distributed optimization problem over a multi-agent network, in which the objective function is a sum of individual cost functions at the agents. We focus on the case when communication between the agents is described…
We characterize the maximum controlled invariant (MCI) set for discrete- as well as continuous-time nonlinear dynamical systems as the solution of an infinite-dimensional linear programming problem. For systems with polynomial dynamics and…
In this paper, we investigate the distributed optimal control problem for a kind of nonlinear multi-agent systems. In particular,both the state and the system dynamic structures of each agent are private and can only be shared among…
Autonomous multi-agent systems (MAS) are useful for automating complex tasks but raise trust concerns due to risks such as miscoordination or goal misalignment. Explainability is vital for users' trust calibration, but explainable MAS face…
This paper considers a strongly connected network of agents, each capable of partially observing and controlling a discrete-time linear time-invariant (LTI) system that is jointly observable and controllable. Additionally, agents…
This paper investigates the output synchronization problem for discrete-time heterogeneous multi-agent systems (MASs) subject to distinct communication delays. The presence of such delays prevents the instantaneous delivery of information…