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Multi-agent AI systems, which simulate diverse instructional roles such as teachers and peers, offer new possibilities for personalized and interactive learning. Yet, student-AI interaction patterns and their pedagogical implications remain…
Due to the complexity of the natural world, a programmer cannot foresee all possible situations, a connected and autonomous vehicle (CAV) will face during its operation, and hence, CAVs will need to learn to make decisions autonomously. Due…
In this work, we study age-optimal scheduling with stability constraints in a multiple access channel with two heterogeneous source nodes transmitting to a common destination. The first node is connected to a power grid and it has randomly…
This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals. In particular, we design control protocols that allow the transition of the…
Optimization of information freshness in wireless networks has usually been performed based on queueing analysis that captures only the temporal traffic dynamics associated with the transmitters and receivers. However, the effect of…
In this paper, we consider a status updating system where updates are generated at a constant rate at $K$ sources and sent to the corresponding recipients through a noise-free broadcast channel. We assume that perfect channel state…
We present a decentralized path-planning algorithm for navigating multiple differential-drive robots in dense environments. In contrast to prior decentralized methods, we propose a novel congestion metric-based replanning that couples local…
This paper introduces a novel algorithm for multiagent offline trajectory generation based on distributed model predictive control. Central to the algorithm's scalability and success is the development of an on-demand collision avoidance…
The recent major developments in information technologies have opened interesting possibilities for the effective management of multi-agent systems. In many cases, the important role of central control nodes can now be undertaken by several…
Motion planning for autonomous robots in tight, interaction-rich, and mixed human-robot environments is challenging. State-of-the-art methods typically separate prediction and planning, predicting other agents' trajectories first and then…
The multiple access scheduling decides how the channel is shared among the nodes in the network. Typical scheduling algorithms aims at increasing the channel utilization and thereby throughput of the network. This paper describes several…
We study cyclic scheduling for generate-at-will (GAW) multi-source status update systems with heterogeneous service times and packet drop probabilities, with the aim of minimizing the weighted sum age of information (AoI), called system…
Age of information (AoI) is a recently proposed metric for measuring information freshness. AoI measures the time that elapsed since the last received update was generated. We consider the problem of minimizing average and peak AoI in a…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…
Wireless communications for status update are becoming increasingly important, especially for machine-type control applications. Existing work has been mainly focused on Age of Information (AoI) optimizations. In this paper, a status-aware…
The engineering design process often demands expertise from multiple domains, leading to complex collaborations and iterative refinements. Traditional methods can be resource-intensive and prone to inefficiencies. To address this, we…
We study the scheduling problem for a multi-source single-server generate-at-will (GAW) status update system with sources having heterogeneous service times and weights, with the goal of minimizing the weighted sum age of information (AoI).…
This paper presents a framework for multi-agent navigation in structured but dynamic environments, integrating three key components: a shared semantic map encoding metric and semantic environmental knowledge, a claim policy for coordinating…
In this paper, we focus on reducing node-to-node information exchange in distributed control of multiagent networks while improving the overall network performance. Specifically, we consider a multiagent network that is composed of leader…
The timely sharing of raw sensing information in the vehicular networks (VNETs) is essential to safety. In order to improve the freshness of sensing information, joint scheduling of multi-dimensional resources such as communication and…