Related papers: Coalitional control: a bottom-up approach
In multiagent systems, agents often have to rely on other agents to reach their goals, for example when they lack a needed resource or do not have the capability to perform a required action. Agents therefore need to cooperate. Then, some…
This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to achieve consensus. We investigate the distributed adaptive…
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…
The hierarchical topology is a common property of many complex systems. Here we introduce a simple but generic model of hierarchy growth from the bottom to the top. Therein, two dynamical processes are accounted for: agent's promotions to…
Decentralized coordination is one of the fundamental challenges for societies and organizations. While extensively explored from a variety of perspectives, one issue which has received limited attention is human coordination in the presence…
New advances in large scale distributed systems have amazingly offered complex functionalities through parallelism of simple and rudimentary components. The key issue in cooperative control of multi-agent systems is the synthesis of local…
Classical applications of control engineering and information and communication technology (ICT) in production and logistics are often done in a rigid, centralized and hierarchical way. These inflexible approaches are typically not able to…
Cloud computing is an opened and distributed network that guarantees access to a large amount of data and IT infrastructure at several levels (software, hardware...). With the increase demand, handling clients' needs is getting increasingly…
We propose a top-down approach for formation control of heterogeneous multi-agent systems, based on the method of eigenstructure assignment. Given the problem of achieving scalable formations on the plane, our approach globally computes a…
Multi-agent systems can be extremely efficient when working concurrently and collaboratively, e.g., for transportation, maintenance, search and rescue. Coordination of such teams often involves two aspects: (i) selecting appropriate…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
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…
We present a framework combining hierarchical and multi-agent deep reinforcement learning approaches to solve coordination problems among a multitude of agents using a semi-decentralized model. The framework extends the multi-agent learning…
The intent of control argumentation frameworks is to specifically model strategic scenarios from the perspective of an agent by extending the standard model of argumentation framework in a way that takes unquantified uncertainty regarding…
Broadcast control is one of decentralized control methods for networked multi-agent systems. In this method, each agent does not communicate with the others, and autonomously determines its own action using only the same signal sent from a…
In this paper, we introduce a nonlinear distributed model predictive control (DMPC) algorithm, which allows for dissimilar and time-varying control horizons among agents, thereby addressing a common limitation in current DMPC schemes. We…
Controllers with a diagonal-plus-low-rank structure constitute a scalable class of controllers for multi-agent systems. Previous research has shown that diagonal-plus-low-rank control laws appear as the optimal solution to a class of…
The level of autonomy is increasing in systems spanning multiple domains, but these systems still experience failures. One way to mitigate the risk of failures is to integrate human oversight of the autonomous systems and rely on the human…
Decentralized stochastic control problems with local information involve problems where multiple agents and subsystems which are coupled via dynamics and/or cost are present. Typically, however, the dynamics of such couplings is complex and…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…