Related papers: Exploiting Over-The-Air Consensus for Collision Av…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
This article aims to improve the performance of networked multi-agent systems, which are common representations of cyber-physical systems. The rate of convergence to consensus of multi-agent networks is critical to ensure cohesive, rapid…
In this paper, we study an optimal output consensus problem for a multi-agent network with agents in the form of multi-input multi-output minimum-phase dynamics. Optimal output consensus can be taken as an extended version of the existing…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
Multi-agent collaboration enhances situational awareness in intelligence, surveillance, and reconnaissance (ISR) missions. Ad hoc networks of unmanned aerial vehicles (UAVs) allow for real-time data sharing, but they face security…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
The integration of unmanned platforms equipped with advanced sensors promises to enhance situational awareness and mitigate the "fog of war" in military operations. However, managing the vast influx of data from these platforms poses a…
This work shows an approach to achieve output consensus among heterogeneous agents in a multi-agent environment where each agent is subject to input constraints. The communication among agents is described by a time-varying…
In this paper, a novel two-level framework was proposed and applied to solve the output average consensus problem over heterogeneous multi-agent systems. This approach is mainly based on the recent technique of system abstraction. For given…
Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas which are always subjected to the presence of static and dynamic obstacles. The focus of the…
This work investigates the consensus problem for multi-agent nonlinear systems through the distributed real-time nonlinear receding horizon control methodology. With this work, we develop a scheme to reach the consensus for nonlinear multi…
This paper addresses the task of joint multi-agent perception and planning, especially as it relates to the real-world challenge of collision-free navigation for connected self-driving vehicles. For this task, several communication-enabled…
Deploying multi-robot systems in environments shared with dynamic and uncontrollable agents presents significant challenges, especially for large robot fleets. In such environments, individual robot operations can be delayed due to…
This paper studies the consensus problem for multiagent systems with transmission constraints. A novel model of multiagent systems is proposed where the information transmissions between agents are disturbed by irregular distortions or…
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…
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…
The threats on cyber-physical system have changed much into a level of sophistication that elude the traditional security and protection methods. This work addresses a proactive approaches to the cyber security of a formation flying UAVs. A…
In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…
In recent years, reinforcement learning and its multi-agent analogue have achieved great success in solving various complex control problems. However, multi-agent reinforcement learning remains challenging both in its theoretical analysis…