Related papers: A Communication Consistent Approach to Signal Temp…
A crucial challenge in decentralized systems is state estimation in the presence of unknown inputs, particularly within heterogeneous sensor networks with dynamic topologies. While numerous consensus algorithms have been introduced, they…
Large language models (LLMs) are increasingly deployed in teams, yet existing coordination approaches often occupy two extremes. Highly structured methods rely on fixed roles, pipelines, or task decompositions assigned a priori. In…
We study the problem of control synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…
Multi-agent systems (MAS) based on Large Language Models (LLMs) have the potential to solve tasks that are beyond the reach of any single LLM. However, this potential can only be realized when the collaboration mechanism between agents is…
In many real-world applications of control system and robotics, linear temporal logic (LTL) is a widely-used task specification language which has a compositional grammar that naturally induces temporally extended behaviours across tasks,…
Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication…
Multi-task learning (MTL) seeks to improve the generalized performance of learning specific tasks, exploiting useful information incorporated in related tasks. As a promising area, this paper studies an MTL-based control approach…
This paper presents a novel control strategy for the coordination of a multi-agent system subject to high-level goals expressed as linear temporal logic formulas. In particular, each agent, which is modeled as a sphere with 2nd order…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…
In a multi-agent system, agents coordinate to achieve global tasks through local communications. Coordination usually requires sufficient information flow, which is usually depicted by the connectivity of the communication network. In a…
Temporal logic based synthesis approaches are often used to find trajectories that are correct-by-construction for tasks in systems with complex behavior. Some examples of such tasks include synchronization for multi-agent hybrid systems,…
Effective modeling of heterogeneous subpopulations presents a significant challenge due to variations in individual characteristics and behaviors. This paper proposes a novel approach to address this issue through multi-task learning (MTL)…
We present a compositional control synthesis method based on assume-guarantee contracts with application to correct-by-construction design of vehicular mission plans. In our approach, a mission-level specification expressed in a fragment of…
This study deals with analysis and control of cooperative synchronization for identical agents interacting on a directed graph topology. The agents are considered to have general continuous linear time-invariant dynamics with homogeneous…
Reinforcement learning (RL) algorithms can find an optimal policy for a single agent to accomplish a particular task. However, many real-world problems require multiple agents to collaborate in order to achieve a common goal. For example, a…
Motivated by the recent interest in cyber-physical and autonomous robotic systems, we study the problem of dynamically coupled multi-agent systems under a set of signal temporal logic tasks. In particular, the satisfaction of each of these…
Consider a collaborative task carried out by two autonomous agents that are able to communicate over a noisy channel. Each agent is only aware of its own state, while the accomplishment of the task depends on the value of the joint state of…
Large language models are increasingly deployed in multi-agent systems to overcome context limitations by distributing information across agents. Yet whether agents can reliably compute with distributed information, rather than merely…
Signal Temporal Logic (STL) is a widely recognized formal specification language to express rigorous temporal requirements on mixed analog signals produced by cyber-physical systems (CPS). A relevant problem in CPS design is how to…