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This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to achieve consensus. We investigate the distributed adaptive…
In this paper, we solve a multi-robot informative path planning (MIPP) task under the influence of uncertain communication and adversarial attackers. The goal is to create a multi-robot system that can learn and unify its knowledge of an…
This paper investigates the planning and control problems for multi-robot systems under linear temporal logic (LTL) specifications. In contrast to most of existing literature, which presumes a static and known environment, our study focuses…
Unanswered questions about how human-AV interaction designers can support rider's informational needs hinders Autonomous Vehicles (AV) adoption. To achieve joint human-AV action goals - such as safe transportation, trust, or learning from…
In a cooperative multiagent system, a collection of agents executes a joint policy in order to achieve some common objective. The successful deployment of such systems hinges on the availability of reliable inter-agent communication.…
Managing transition plans is one of the major problems of people with cognitive disabilities. Therefore, finding an automated way to generate such plans would be a helpful tool for this community. In this paper we have specifically proposed…
We consider a probabilistic model for large-scale task allocation problems for multi-agent systems, aiming to determine an optimal deployment strategy that minimizes the overall transport cost. Specifically, we assign transportation agents…
Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…
We propose a formalism to model and reason about reconfigurable multi-agent systems. In our formalism, agents interact and communicate in different modes so that they can pursue joint tasks; agents may dynamically synchronize, exchange…
Artificial agents have been shown to learn to communicate when needed to complete a cooperative task. Some level of language structure (e.g., compositionality) has been found in the learned communication protocols. This observed structure…
Learned communication makes multi-agent systems more effective by aggregating distributed information. However, it also exposes individual agents to the threat of erroneous messages they might receive. In this paper, we study the setting…
Multi-agent routing problems have gained significant attention recently due to their wide range of industrial applications, ranging from logistics warehouse automation to indoor service robots. Conventionally, they are modeled as classical…
Providing a higher level of decision autonomy and accompanying prompt changes of an uncertain environment is a true challenge of AUVs autonomous operations. The proceeding approach introduces a robust reactive structure that accommodates an…
In this paper, we investigate resource allocation algorithm design for multiuser unmanned aerial vehicle (UAV) communication systems in the presence of UAV jittering and user location uncertainty. In particular, we jointly optimize the…
Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…
Collaborative object transportation using multiple Micro Aerial Vehicles (MAVs) with limited communication is a challenging problem. In this paper we address the problem of multiple MAVs mechanically coupled to a bulky object for…
In decision support systems, it is essential to get a candidate solution fast, even if it means resorting to an approximation. This constraint introduces a scalability requirement with regard to the kind of heuristics which can be used in…
Information exchange in multi-agent systems improves the cooperation among agents, especially in partially observable settings. In the real world, communication is often carried out over imperfect channels. This requires agents to handle…
To coordinate with other agents in its environment, an agent needs models of what the other agents are trying to do. When communication is impossible or expensive, this information must be acquired indirectly via plan recognition. Typical…