Related papers: Multi-Partite Output Regulation of Multi-Agent Sys…
Multi-output Gaussian processes (MOGPs) have been introduced to deal with multiple tasks by exploiting the correlations between different outputs. Generally, MOGPs models assume a flat correlation structure between the outputs. However,…
In this paper, we develop a fast mixed-integer convex programming (MICP) framework for multi-robot navigation by combining graph attention networks and distributed optimization. We formulate a mixed-integer optimization problem for receding…
In submodular multiway partition (SUB-MP), the input is a non-negative submodular function $f:2^V \rightarrow \mathbb{R}_{\ge 0}$ given by an evaluation oracle along with $k$ terminals $t_1, t_2, \ldots, t_k\in V$. The goal is to find a…
In this article, we present a distributed source-seeking and flocking control method for networked multi-agent systems with non-holonomic constraints. Based solely on identical on-board sensor systems, which measure the source local field,…
Multi-Agent Path Finding (MAPF) is a problem of finding a sequence of movements for agents to reach their assigned location without collision. Centralized algorithms usually give optimal solutions, but have difficulties to scale without…
This paper studies the problem of steering a linear time-invariant system subject to state and input constraints towards a goal location that may be inferred only through partial observations. We assume mixed-observable settings, where the…
This paper addresses the problem of fixed-time cooperative output regulation for linear multi-agent systems over directed graphs under denial-of-service attacks. A novel distributed resilient fixed-time controller is developed that…
Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed…
In multi-agent systems, agents possess only local observations of the environment. Communication between teammates becomes crucial for enhancing coordination. Past research has primarily focused on encoding local information into embedding…
This paper presents a simulation testbed developed for testing and demonstration of decentralized control algorithms designed for multi-agent systems. Aimed at bridging a gap between theory and practical deployment of such algorithms, this…
This paper considers the robust cooperative output regulation for a network of parabolic PDE systems. The solution of this problem is obtained by extending the cooperative internal model principle from finite to infinite dimensions. For a…
In topology optimization, the state of structures is typically obtained by numerically evaluating a discretized PDE-based model. The degrees of freedom of such a model can be partitioned in free and prescribed sets to define the boundary…
Multi-agent Markov Decision Processes (MMDPs) arise in a variety of applications including target tracking, control of multi-robot swarms, and multiplayer games. A key challenge in MMDPs occurs when the state and action spaces grow…
This paper studies cooperative control of noncooperative double-integrator multi-agent systems (MASs) with input delay on connected directed graphs in the context of a differential graphical game (DGG). In the distributed DGG, each agent…
The challenge of engineering autonomous agents capable of navigating the stochastic and adversarial nature of the physical world has historically resided at the intersection of symbolic logic and control theory. Traditional multi-agent…
In cooperative Multi-Agent Planning (MAP), a set of goals has to be achieved by a set of agents. Independently of whether they perform a pre-assignment of goals to agents or they directly search for a solution without any goal assignment,…
The time-varying output formation tracking for the heterogeneous multi-agent systems (MAS) is investigated in this paper. First, a distributed observer is constructed for followers to estimate the states of the leader, which can ensure that…
Distributed algorithms for both discrete-time and continuous-time linearly solvable optimal control (LSOC) problems of networked multi-agent systems (MASs) are investigated in this paper. A distributed framework is proposed to partition the…
We address the optimal design of a large scale multi-agent system where each agent has discrete and/or continuous decision variables that need to be set so as to optimize the sum of linear local cost functions, in presence of linear local…
Output regulation is a fundamental problem in control theory, extensively studied since the 1970s. Traditionally, research has primarily addressed scenarios where the system model is explicitly known, leaving the problem in the absence of a…