Related papers: Reachability for multiagent control systems via Ly…
We investigate the universality of multi-spin systems in architectures of various symmetries of coupling type and topology. Explicit reachability sets under symmetry constraints are provided. Thus for a given (possibly symmetric)…
Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics are not fully known. This paper is motivated by a scenario…
This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…
We develop tools to construct Lyapunov functionals on the space of probability measures in order to investigate the convergence to global equilibrium of a damped Euler system under the influence of external and interaction potential forces…
We study a multi-agent mean field type control problem in discrete time where the agents aim to find a socially optimal strategy and where the state and action spaces for the agents are assumed to be continuous. The agents are only weakly…
A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…
In this paper we study a path planning problem from a variational approach to collision and obstacle avoidance for multi-agent systems evolving on a Riemannian manifold. The problem consists of finding non-intersecting trajectories between…
Ensuring safe, robust, and scalable motion planning for multi-agent systems in dynamic and uncertain environments is a persistent challenge, driven by complex inter-agent interactions, stochastic disturbances, and model uncertainties. To…
We study the almost-sure reachability problem in a distributed system obtained as the asynchronous composition of N copies (called processes) of the same automaton (called protocol), that can communicate via a shared register with finite…
We analyze a continuous time multidimensional opinion model where agents have heterogeneous but symmetric and compactly supported interaction functions. We consider Filippov solutions of the resulting dynamics and show strong Lyapunov…
We present a method to overapproximate forward stochastic reach sets of discrete-time, stochastic nonlinear systems with interval geometry. This is made possible by extending the theory of mixed-monotone systems to incorporate stochastic…
In this article we approach a class of stochastic reachability problems with state constraints from an optimal control perspective. Preceding approaches to solving these reachability problems are either confined to the deterministic setting…
We consider a finite number of $N$ statistically equal agents, each moving on a finite set of states according to a continuous-time Markov Decision Process (MDP). Transition intensities of the agents and generated rewards depend not only on…
Vector addition systems (VAS) constitute an important model of computation and concurrency that is equally expressive as the Petri net model. Recently, a lot of research has been conducted on vector addition systems with states (VASS),…
This paper deals with the gradient-based extremum seeking control for multivariable maps under actuator saturation. By exploiting a polytopic embedding of the unknown Hessian, we derive a LMI-based synthesis condition to ensure that the…
In complex multi-agent systems involving heterogeneous teams, uncertainty arises from numerous sources like environmental disturbances, model inaccuracies, and changing tasks. This causes planned trajectories to become infeasible, requiring…
Controllability of multi-agent systems is determined by the interconnection topologies. In practice, losing agents can change the topologies of multi-agent systems, which may affect the controllability. This paper studies non-fragility of…
Multi-agent systems (MAS) may encounter uncertainties in the form of unexpected environmental conditions, sub-optimal system configurations, and unplanned interactions between autonomous agents. The number of combinations of such…
We investigate the probabilistic feasibility of randomized solutions to two distinct classes of uncertain multi-agent optimization programs. We first assume that only the constraints of the program are affected by uncertainty, while the…
We develop an algorithm for computing bounded reachability probability for hybrid systems, i.e., the probability that the system reaches an unsafe region within a finite number of discrete transitions. In particular, we focus on hybrid…