Related papers: Adaptive Deadlock Avoidance for Decentralized Mult…
One of the standing challenges in multi-robot systems is the ability to reliably coordinate motions of multiple robots in environments where the robots are subject to disturbances. We consider disturbances that force the robot to…
Traditional methods plan feasible paths for multiple agents in the stochastic environment. However, the methods' iterations with the changes in the environment result in computation complexities, especially for the decentralized agents…
Action and observation delays exist prevalently in the real-world cyber-physical systems which may pose challenges in reinforcement learning design. It is particularly an arduous task when handling multi-agent systems where the delay of one…
This article presents a closed-form adaptive controlbarrier-function (CBF) approach for satisfying state constraints in systems with parametric uncertainty. This approach uses a sampled-data recursive-least-squares algorithm to estimate the…
This paper addresses the challenge of integrating explicit hard constraints into the control barrier function (CBF) framework for ensuring safety in autonomous systems, including robots. We propose a novel data-driven method to derive CBFs…
This paper presents a safe adaptive coverage controller for multi-agent systems with actuator faults and time-varying uncertainties. The centroidal Voronoi tessellation (CVT) is applied to generate an optimal configuration of multi-agent…
We describe a probabilistic framework for synthesizing control policies for general multi-robot systems, given environment and sensor models and a cost function. Decentralized, partially observable Markov decision processes (Dec-POMDPs) are…
In this paper, we address the stabilization problem for force-controlled nonholonomic mobile robots under safety-critical constraints. We propose a continuous, time-invariant control law based on the gamma m-quadratic programming (gamma…
We consider the problem of \emph{fully decentralized} multi-agent reinforcement learning (MARL), where the agents are located at the nodes of a time-varying communication network. Specifically, we assume that the reward functions of the…
In this paper, an adaptive controller is designed for the synchronization of the trajectory of a robot with unknown kinematics and dynamics to that of the current human trajectory in the task space using the delayed human trajectory…
Achieving scalable coordination in large robotic swarms is often constrained by reliance on inter-agent communication, which introduces latency, bandwidth limitations, and vulnerability to failure. To address this gap, a decentralized…
Control barrier functions (CBFs) play a critical role in the design of safe optimization-based controllers for control-affine systems. Given a CBF associated with a desired ``safe'' set, the typical approach consists in embedding CBF-based…
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…
The paper focuses on the design of a control strategy for safety-critical remote teleoperation. The main goal is to make the controlled system track the desired velocity specified by an operator while avoiding obstacles despite…
This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…
Multi-agent Pathfinding (MAPF) problem generally asks to find a set of conflict-free paths for a set of agents confined to a graph and is typically solved in a centralized fashion. Conversely, in this work, we investigate the decentralized…
This paper presents a feasibility-enhanced control barrier function (FECBF) framework for multi-UAV collision avoidance. In dense multi-UAV scenarios, the feasibility of the CBF quadratic program (CBF-QP) can be compromised due to internal…
This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…
Various control strategies and field experiments have been designed for connected and automated vehicles (CAVs) to stabilize mixed traffic that contains both CAVs and Human-driven Vehicles (HVs). The effect of these stabilizing CAV control…
In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to provide formal safety guarantees while considering complex…