Related papers: Optimal Assignment and Motion Control in Two-Class…

A multi-agent coverage problem is considered with energy-constrained agents. The objective of this paper is to compare the coverage performance between centralized and decentralized approaches. To this end, a near-optimal centralized…

Distributed optimization problems have received much attention due to their privacy preservation, parallel computation, less communication, and strong robustness. This paper presents and studies the time-varying distributed optimization…

Controlling large particle systems in collective dynamics by a few agents is a subject of high practical importance, e.g., in evacuation dynamics. In this paper we study an instantaneous control approach to steer an interacting particle…

We consider a discrete-time bipartite matching model with random arrivals of units of supply and demand that can wait in queues located at the nodes in the network. A control policy determines which are matched at each time. The focus is on…

In this paper, we study the problem of distributed multi-agent optimization over a network, where each agent possesses a local cost function that is smooth and strongly convex. The global objective is to find a common solution that…

This paper investigates the social optimum for a dynamic linear quadratic collective choice problem where a group of agents choose among multiple alternatives or destinations. The agents' common objective is to minimize the average cost of…

Swarms of autonomous agents are useful in many applications due to their ability to accomplish tasks in a decentralized manner, making them more robust to failures. Due to the difficulty in running experiments with large numbers of hardware…

In this article, we propose a new unifying framework for the investigation of multi-agent control problems in the mean-field setting. Our approach is based on a new definition of differential inclusions for continuity equations formulated…

In this work, we consider a population composed of a continuum of agents that seek to maximize a payoff function by moving on a network. The nodes in the network may represent physical locations or abstract choices. The population is…

We consider the optimal control problem of steering an agent population to a desired distribution over an infinite horizon. This is an optimal transport problem over dynamical systems, which is challenging due to its high computational…

In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First,…

This article introduces a formation shape control algorithm, in the optimal control framework, for steering an initial population of agents to a desired configuration via employing the Gromov-Wasserstein distance. The underlying dynamical…

We introduce and study the infinite dimensional linear programming problem which along with its dual allows one to characterize the optimal value of the deterministic long-run average optimal control problem in the general case when the…

One of the major challenges in the coordination of large, open, collaborative, and commercial vehicle fleets is dynamic task allocation. Self-concerned individually rational vehicle drivers have both local and global objectives, which…

The problem of near-optimal distributed path planning to locally sensed targets is investigated in the context of large swarms. The proposed algorithm uses only information that can be locally queried, and rigorous theoretical results on…

We study a multiscale approach for the control of agent-based, two-population models. The control variable acts over one population of leaders, which influence the population of followers via the coupling generated by their interaction. We…

In this paper, we consider the problem of containment control of multi-agent systems with multiple stationary leaders, interacting over a directed network. While, containment control refers to just ensuring that the follower agents reach…

State-dependent networked dynamical systems are ones where the interconnections between agents change as a function of the states of the agents. Such systems are highly nonlinear, and a cohesive strategy for their control is lacking in the…

This paper considers the problem of determining an optimal control action based on observed data. We formulate the problem assuming that the system can be modelled by a nonlinear state-space model, but where the model parameters, state and…

The multi-agent patrol problem refers to repeatedly visiting different locations in an environment using multiple autonomous agents. For over two decades, researchers have studied this problem in various settings. While providing valuable…