Related papers: Dynamic task delegation for hierarchical agents
We present a principled and efficient planning algorithm for collaborative multiagent dynamical systems. All computation, during both the planning and the execution phases, is distributed among the agents; each agent only needs to model and…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
For a (co)monad T_l on a category M, an object X in M, and a functor \Pi: M \to C, there is a (co)simplex Z^*:=\Pi T_l^{* +1} X in C. Our aim is to find criteria for para-(co)cyclicity of Z^*. Construction is built on a distributive law of…
We present PolyChor$\lambda$, a language for higher-order functional \emph{choreographic programming} -- an emerging paradigm by which programmers write the desired cooperative behaviour of a system of communicating processes and then…
In order to generate plans for agents with multiple actuators, agent teams, or distributed controllers, we must be able to represent and plan using concurrent actions with interacting effects. This has historically been considered a…
This monograph is a study of the category of polynomial endofunctors on the category of sets and its applications to modeling interaction protocols and dynamical systems. We assume basic categorical background and build the categorical…
In many problems, agents cooperate locally so that a leader or fusion center can infer the state of every agent from probing the state of only a small number of agents. Versions of this problem arise when a fusion center reconstructs an…
We provide a categorical framework for mathematical objects for which there is both a sort of "independent" and "dependent" composition. Namely we model them as duoidal categories in which both monoidal structures share a unit and the first…
We give a definition of an operad with general groups of equivariance suitable for use in any symmetric monoidal category with appropriate colimits. We then apply this notion to study the 2-category of algebras over an operad in Cat. We…
Most type systems that support polymorphic functions are based on a version of System-F. We argue that this limits useful programming paradigms for languages with lazy evaluation. We motivate an extension of System-F alleviating this…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
Autonomic management can improve the QoS provided by parallel/ distributed applications. Within the CoreGRID Component Model, the autonomic management is tailored to the automatic - monitoring-driven - alteration of the component assembly…
The incorporation of macro-actions (temporally extended actions) into multi-agent decision problems has the potential to address the curse of dimensionality associated with such decision problems. Since macro-actions last for stochastic…
Partition functions, also known as homomorphism functions, form a rich family of graph invariants that contain combinatorial invariants such as the number of k-colourings or the number of independent sets of a graph and also the partition…
This paper explicitely constructs cofree coalgebras over operads in the category of DG-modules. Special cases are considered in which the general expression simplifies (such as the pointed, irreducible case). It is shown that the existence…
Inspired by recent work of Batanin and Berger on the homotopy theory of operads, a general monad-theoretic context for speaking about structures within structures is presented, and the problem of constructing the universal ambient structure…
Involving humans directly for the benefit of AI agents' training is getting traction thanks to several advances in reinforcement learning and human-in-the-loop learning. Humans can provide rewards to the agent, demonstrate tasks, design a…
Let $\mathcal C$ be a category with finite colimits, writing its coproduct $+$, and let $(\mathcal D, \otimes)$ be a braided monoidal category. We describe a method of producing a symmetric monoidal category from a lax braided monoidal…
In this paper, we extend diagrammatic reasoning in monoidal categories with algebraic operations and equations. We achieve this by considering monoidal categories that are enriched in the category of Eilenberg-Moore algebras for a monad.…
In this paper, we give precise mathematical form to the idea of a structure whose data and axioms are faithfully represented by a graphical calculus; some prominent examples are operads, polycategories, properads, and PROPs. Building on the…