Related papers: Self-organizing Multiagent Target Enclosing under …
This paper proposes a label-free controller for a second-order multi-agent system to cooperatively fence a moving target of variational velocity into a convex hull formed by the agents whereas maintaining a rigid formation. Therein, no…
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…
Due to the dynamic and unpredictable open-world setting, navigating complex environments in Minecraft poses significant challenges for multi-agent systems. Agents must interact with the environment and coordinate their actions with other…
Minimum circle circumnavigation is proposed in this paper, which is of special value in target monitoring, capturing and/or attacking. In this paper, a safe minimum circle circumnavigation of multiple targets based on bearing measurements…
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…
A secure and private framework for inter-agent communication and coordination is developed. This allows an agent, in our case a fleet owner, to ask questions or submit queries in an encrypted fashion using semi-homomorphic encryption. The…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
We investigate a multi-agent planning problem, where each agent aims to achieve an individual task while avoiding collisions with others. We assume that each agent's task is expressed as a Time-Window Temporal Logic (TWTL) specification…
This paper introduces a novel approach to solve the coverage optimization problem in multi-agent systems. The proposed technique offers an optimal solution with a lower cost with respect to conventional Voronoi-based techniques by…
Finding feasible, collision-free paths for multiagent systems can be challenging, particularly in non-communicating scenarios where each agent's intent (e.g. goal) is unobservable to the others. In particular, finding time efficient paths…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
Autonomous multi-agent systems are increasingly being deployed in environments where winds and ocean currents have a significant influence. Recent work has developed control policies for single agents that leverage flows to achieve their…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
This paper focuses on a multi-agent zeroth-order online optimization problem in a federated learning setting for target tracking. The agents only sense their current distances to their targets and aim to maintain a minimum safe distance…
Conventional distributed approaches to coverage control may suffer from lack of convergence and poor performance, due to the fact that agents have limited information, especially in non-convex discrete environments. To address this issue,…
It is always a challenging task for multi-agent systems to achieve efficient and robust coverage in uncertain environments. The absence of global positioning information on the uncertain environment introduces significant complexity to the…
The main contribution of this paper is a methodology for multiple non-cooperating swarms of unmanned aerial vehicles to independently cover a common area. In contrast to previous research on coverage control involving more than one swarm,…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…