Related papers: Multi-agent Coverage Control: From Discrete Assign…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
This paper considers the containment control problem for multi-agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a…
Tracking multiple targets in dynamic environments using distributed sensor networks is a fundamental problem in statistical signal processing. In such scenarios, the network of mobile sensors must coordinate their actions to accurately…
This work investigates the coverage control problem over a static, compact, and convex workspace and develops a hybrid extension of the continuous-time Lloyd algorithm. Each agent in a multi-agent system (MAS) is equipped with a timer…
Real-time environmental monitoring using a multi-agent system (MAS) has long been a focal point of cooperative control. It is still a challenging task to provide cost-effective services for potential emergencies in surface environments.…
This paper introduces a novel decentralized implementation of a continuification-based strategy to control the density of large-scale multi-agent systems on the unit circle. While continuification methods effectively address micro-to-macro…
We introduce a novel distributed sampled-data control method tailored for heterogeneous multi-agent systems under a global spatio-temporal task with acyclic dependencies. Specifically, we consider the global task as a conjunction of…
The problem of assigning agents to tasks is a central computational challenge in many multi-agent autonomous systems. However, in the real world, agents are not always perfect and may fail due to a number of reasons. A motivating…
This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…
This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
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…
We propose a finite-state, decentralized decision and control framework for multi-agent ground coverage. The approach decomposes the problem into two coupled components: (i) the structural design of a deep neural network (DNN) induced by…
This paper presents a novel coverage control algorithm for multi-agent systems, where each agent has no prior knowledge of the specific region to be covered. The proposed method enables agents to autonomously detect the target area and…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics, requiring the computation of collision-free paths for multiple agents moving from their respective start to goal positions. Coordinating multiple agents in a shared…
Resource allocation and scheduling in multi-agent systems present challenges due to complex interactions and decentralization. This survey paper provides a comprehensive analysis of distributed algorithms for addressing the distributed…
We consider a multi-agent reinforcement learning problem where each agent seeks to maximize a shared reward while interacting with other agents, and they may or may not be able to communicate. Typically the agents do not have access to…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
Current approaches to multi-agent cooperation rely heavily on centralized mechanisms or explicit communication protocols to ensure convergence. This paper studies the problem of distributed multi-agent learning without resorting to…
This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of…