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In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
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…
In this work, we design distributed control laws for spatial self-organization of multi-agent swarms in 1D and 2D spatial domains. The objective is to achieve a desired density distribution over a simply-connected spatial domain. Since…
Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle in shared, dynamic real-world spaces. This failure stems from the dominant single-agent paradigm for physical applications, where…
Navigating through intersections is one of the main challenging tasks for an autonomous vehicle. However, for the majority of intersections regulated by traffic lights, the problem could be solved by a simple rule-based method in which the…
This paper presents an input-constrained nonlinear guidance law to address the problem of intercepting a stationary target in contested environments with multiple defending agents. Contrary to prior approaches that rely on explicit…
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by…
We consider stochastic model predictive control of a multi-agent systems with constraints on the probabilities of inter-agent collisions. We first study a sample-based approximation of the collision probabilities and use this approximation…
This paper presents a framework for multi-agent navigation in structured but dynamic environments, integrating three key components: a shared semantic map encoding metric and semantic environmental knowledge, a claim policy for coordinating…
In multi-agent search planning for a randomly moving and camouflaging target, we examine heterogeneous searchers that differ in terms of their endurance level, travel speed, and detection ability. This leads to a convex mixed-integer…
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…
This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…
Missions for autonomous systems often require agents to visit multiple targets in complex operating conditions. This work considers the problem of visiting a set of targets in minimum time by a team of non-communicating agents in a Markov…
This paper introduces a multi-round interaction problem with privacy constraints between two agents that observe correlated data. The agents alternately share data with one another for a total of K rounds such that each agent initiates…
In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
Recent advances in robotics have enabled the widespread deployment of autonomous robotic systems in complex operational environments, presenting both unprecedented opportunities and significant security problems. Traditional shepherding…
In this Paper we propose a simple yet effective set of local control rules to make a group of "herder agents" collect and contain in a desired region an ensemble of non-cooperative stochastic "target agents" in the plane. We investigate the…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
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…