Related papers: Decentralized Continuification Control of Multi-Ag…
State-dependent networked dynamical systems are ones where the interconnections between agents change as a function of the states of the agents. Such systems are highly nonlinear, and a cohesive strategy for their control is lacking in the…
This thesis is concerned with distributed control and coordination of networks consisting of multiple, potentially mobile, agents. This is motivated mainly by the emergence of large scale networks characterized by the lack of centralized…
This paper proposes a decentralized design approach of consensus protocols of multi-agent systems via a directed-spanning-tree(DST)-based linear transformation and the corresponding minimal communication links. First, the consensus problem…
Reinforcement learning algorithms require a large amount of samples; this often limits their real-world applications on even simple tasks. Such a challenge is more outstanding in multi-agent tasks, as each step of operation is more costly…
This paper is devoted to distributed continuous-time and discrete-time optimization problems with nonuniform convex constraint sets and nonuniform stepsizes for general differentiable convex objective functions. The communication graphs are…
The design of control systems for the spatial self-organization of mobile agents is an open challenge across several engineering domains, including swarm robotics and synthetic biology. Here, we propose a bio-inspired leader-follower…
Decision making in multi-agent systems (MAS) is a great challenge due to enormous state and joint action spaces as well as uncertainty, making centralized control generally infeasible. Decentralized control offers better scalability and…
We consider a multi-agent reinforcement learning problem where each agent seeks to maximize a shared reward while interacting with other agents, and they may or may not be able to communicate. Typically the agents do not have access to…
Most solutions to the inventory management problem assume a centralization of information that is incompatible with organisational constraints in real supply chain networks. The inventory management problem is a well-known planning problem…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
The density-distribution method has recently become a promising paradigm owing to its adaptability to variations in swarm size. However, existing studies face practical challenges in achieving complex shape representation and decentralized…
Feedback optimization is an increasingly popular control paradigm to optimize dynamical systems, accounting for control objectives that concern the system operation at steady-state. Existing feedback optimization techniques heavily rely on…
In this work, we propose a novel safe and scalable decentralized solution for multi-agent control in the presence of stochastic disturbances. Safety is mathematically encoded using stochastic control barrier functions and safe controls are…
This paper addresses the distributed consensus problem for a linear multi-agent system with switching directed communication topologies. By appropriately introducing a linear transformation, the consensus problem is equivalently converted…
We present a decentralized ergodic control policy for time-varying area coverage problems for multiple agents with nonlinear dynamics. Ergodic control allows us to specify distributions as objectives for area coverage problems for nonlinear…
This paper is concerned with the quantized consensus problem for uncertain nonlinear multi-agent systems under data-rate constraints and Denial-of-Service (DoS) attacks. The agents are modeled in strict-feedback form with unknown nonlinear…
In this paper we focus on the distributed quantized average consensus problem in open multi-agent systems consisting of dynamic directed communication links among active nodes. We propose three communication-efficient distributed algorithms…
In a multi-agent system, agents coordinate to achieve global tasks through local communications. Coordination usually requires sufficient information flow, which is usually depicted by the connectivity of the communication network. In a…
In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower…
Broadcast control is one of decentralized control methods for networked multi-agent systems. In this method, each agent does not communicate with the others, and autonomously determines its own action using only the same signal sent from a…