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Consensus strategies find a variety of applications in distributed coordination and decision making in multi-agent systems. In particular, average consensus plays a key role in a number of applications and is closely associated with two…
Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas which are always subjected to the presence of static and dynamic obstacles. The focus of the…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
In this paper, we investigate the inconsistency problem arising from observability mismatch that frequently occurs in nonlinear systems such as multi-robot cooperative localization and simultaneous localization and mapping. For a general…
Meshless methods are often used in numerical simulations of systems of partial differential equations (PDEs), particularly those which involve complex geometries or free surfaces. Here we present a novel compact scheme based on the local…
One of the challenges for multi-agent reinforcement learning (MARL) is designing efficient learning algorithms for a large system in which each agent has only limited or partial information of the entire system. While exciting progress has…
Predicting the motion of multiple agents is necessary for planning in dynamic environments. This task is challenging for autonomous driving since agents (e.g. vehicles and pedestrians) and their associated behaviors may be diverse and…
This paper presents a novel hybrid motion planning method for holonomic multi-agent systems. The proposed decentralised model predictive control (MPC) framework tackles the intractability of classical centralised MPC for a growing number of…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…
Multi-agent robotic exploration stands to play an important role in space exploration as the next generation of robotic systems ventures to far-flung environments. A key challenge in this new paradigm will be to effectively share and…
Accurate reconstruction of the environment is a central goal of Simultaneous Localization and Mapping (SLAM) systems. However, the agent's trajectory can significantly affect estimation accuracy. This paper presents a new method to model…
Three algebraically stabilized finite element schemes for discretizing convection-diffusion-reaction equations are studied on adaptively refined grids. These schemes are the algebraic flux correction (AFC) scheme with Kuzmin limiter, the…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
Almost all multi-agent reinforcement learning algorithms without communication follow the principle of centralized training with decentralized execution. During centralized training, agents can be guided by the same signals, such as the…
As foundation models are increasingly deployed as interacting agents in multi-agent systems, their collective behavior raises new challenges for trustworthiness, transparency, and accountability. Traditional coordination mechanisms, such as…
Large Language Model (LLM)-powered Multi-agent systems (MAS) have achieved state-of-the-art results on various complex reasoning tasks. Recent works have proposed techniques to automate the design of MASes, eliminating the need for manual…
This paper introduces a novel approach for achieving fixed-time tracking consensus control in multiagent systems (MASs). Departing from the reliance on traditional controllers, our innovative controller integrates modified tuning and…
This paper provides necessary and sufficient conditions for the existence of solutions to the state synchronization problem of homogeneous multi-agent systems (MAS) via scale-free linear dynamic non-collaborative protocol for both…
In collective systems, the available agents are a limited resource that must be allocated among tasks to maximize collective performance. Computing the optimal allocation of several agents to numerous tasks through a brute-force approach…
Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration that satisfies the inter-agent distance conditions a target configuration. It is…