Related papers: Locally Interdependent Multi-Agent MDP: Theoretica…
We consider the problem of interactive partially observable Markov decision processes (I-POMDPs), where the agents are located at the nodes of a communication network. Specifically, we assume a certain message type for all messages.…
This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…
This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…
In order to drive safely on the road, autonomous vehicle is expected to predict future outcomes of its surrounding environment and react properly. In fact, many researchers have been focused on solving behavioral prediction problems for…
We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers toward a desired spatial distribution. Unlike prior work, we…
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…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
The article is devoted to the issues of using discrete simulation models for modeling some basic technological processes. In the scientific work, models in the form of multi-agent systems have been investigated, which allow us to consider a…
We address the problem of approximate model minimization for MDPs in which the state is partitioned into endogenous and (much larger) exogenous components. An exogenous state variable is one whose dynamics are independent of the agent's…
Network Markov Decision Processes (MDPs), a popular model for multi-agent control, pose a significant challenge to efficient learning due to the exponential growth of the global state-action space with the number of agents. In this work,…
In this report, we aim at the development of a decentralized abstraction framework for multi-agent systems under coupled constraints, with the possibility for a varying degree of decentralization. The methodology is based on the analysis…
Multi-agent Pathfinding (MAPF) problem generally asks to find a set of conflict-free paths for a set of agents confined to a graph and is typically solved in a centralized fashion. Conversely, in this work, we investigate the decentralized…
Multi-agent pathfinding (MAPF) is a widely used abstraction for multi-robot trajectory planning problems, where multiple homogeneous agents move simultaneously within a shared environment. Although solving MAPF optimally is NP-hard,…
Active traffic management with autonomous vehicles offers the potential for reduced congestion and improved traffic flow. However, developing effective algorithms for real-world scenarios requires overcoming challenges related to…
We propose a formalism to model and reason about reconfigurable multi-agent systems. In our formalism, agents interact and communicate in different modes so that they can pursue joint tasks; agents may dynamically synchronize, exchange…
This paper studies fully decentralized cooperative multi-agent reinforcement learning, where each agent solely observes the states, its local actions, and the shared rewards. The inability to access other agents' actions often leads to…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
In cooperative multiagent planning, it can often be beneficial for an agent to make commitments about aspects of its behavior to others, allowing them in turn to plan their own behaviors without taking the agent's detailed behavior into…
We formalise and study multi-agent timed models MAPTs (Multi-Agent with timed Periodic Tasks), where each agent is associated to a regular timed schema upon which all possibles actions of the agent rely. MAPTs allow for an accelerated…
We review a body of recent work by the author and collaborators on controlling the spatial organisation of large agent populations across multiple scales. A central theme is the systematic bridging of microscopic agent-level dynamics and…