Related papers: Decentralised multi-agent coordination for real-ti…
This paper explores the use of Answer Set Programming (ASP) in solving Distributed Constraint Optimization Problems (DCOPs). The paper provides the following novel contributions: (1) It shows how one can formulate DCOPs as logic programs;…
In this paper, a multi-agent coordination problem with steady-state regulation constraints is investigated for a class of nonlinear systems. Unlike existing leader-following coordination formulations, the reference signal is not given by a…
Multi Agent Path Finding (MAPF) requires identification of conflict free paths for agents which could be point-sized or with dimensions. In this paper, we propose an approach for MAPF for spatially-extended agents. These find application in…
In this paper, a stochastic approximation (SA) based distributed algorithm is proposed to solve the resource allocation (RA) with uncertainties. In this problem, a group of agents cooperatively optimize a separable optimization problem with…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
Distributed Constraint Optimization Problems (DCOPs) offer a powerful framework for multi-agent coordination but often rely on labor-intensive, manual problem construction. To address this, we introduce VL-DCOPs, a framework that takes…
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,…
The Dynamic Task Assignment Problem (DTAP) concerns matching resources to tasks in real time while minimizing some objectives, like resource costs or task cycle time. In this work, we consider a DTAP variant where every task is a case…
This paper studies distributed resource allocation problem in multi-agent systems, where all the agents cooperatively minimize the sum of their cost functions with global resource constraints over stochastic communication networks. This…
Train marshalling is the process of reordering the railcars of a train in such a way that the railcars with the same destination appear consecutively in the final, reassembled train. The process takes place in the shunting yard by means of…
Many multi-agent coordination problems can be represented as DCOPs. Motivated by task allocation in disaster response, we extend standard DCOP models to consider uncertain task rewards where the outcome of completing a task depends on its…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
This paper addresses distributed constrained multiobjective resource allocation problems (DCMRAPs) in multi-agent networks, where agents face multiple conflicting local objectives under local and global constraints. By reformulating DCMRAPs…
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…
Trajectory optimization considers the problem of deciding how to control a dynamical system to move along a trajectory which minimizes some cost function. Differential Dynamic Programming (DDP) is an optimal control method which utilizes a…
The field of Distributed Constraint Optimization Problems (DCOPs) has gained momentum, thanks to its suitability in capturing complex problems (e.g., multi-agent coordination and resource allocation problems) that are naturally distributed…
The Distributed Constraint Optimization Problem (DCOP) formulation is a powerful tool to model multi-agent coordination problems that are distributed by nature. The formulation is suitable for problems where variables are discrete and…
In this paper a decentralized control algorithm for systems composed of $N$ dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into $N$ optimal control sub-problems and a…
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…