Related papers: Predictive & Trust-based Multi-Agent Coordination
Generalized from the concept of consensus, this paper considers a group of edge agreements, i.e. constraints defined for neighboring agents, in which each pair of neighboring agents is required to satisfy one edge agreement constraint. Edge…
In traditional adaptive control, the certainty equivalence principle suggests a two-step design scheme. A controller is first designed for the ideal situation assuming the uncertain parameter was known and it renders a Lyapunov function.…
Adversarial attacks during training can strongly influence the performance of multi-agent reinforcement learning algorithms. It is, thus, highly desirable to augment existing algorithms such that the impact of adversarial attacks on…
Distributed multi-task adaptive strategies are useful to estimate multiple parameter vectors simultaneously in a collaborative manner. The existed distributed multi-task strategies use diffusion mode of cooperation in which during…
Distributed decision making in multi-agent networks has recently attracted significant research attention thanks to its wide applicability, e.g. in the management and optimization of computer networks, power systems, robotic teams, sensor…
The increasing complexity of Beyond 5G and 6G networks necessitates new paradigms for autonomy and assur- ance. Traditional O-RAN control loops rely heavily on RIC- based orchestration, which centralizes intelligence and exposes the system…
This paper addresses the distributed consensus protocol design problem for linear multi-agent systems with directed graphs and external unmatched disturbances. A novel distributed adaptive consensus protocol is proposed to achieve…
This paper addresses the problem of positive consensus of directed multi-agent systems with observer-type output-feedback protocols. More specifically, directed graph is used to model the communication topology of the multi-agent system and…
In this paper, a leader-following coordination problem of heterogeneous multi-agent systems is considered under switching topologies where each agent is subject to some local (unbounded) disturbances. While these unknown disturbances may…
This paper considers the consensusability of multi-agent systems with delay and packet dropout. By proposing a kind of predictor-like protocol, sufficient and necessary conditions are given for the mean-square consensusability in terms of…
This paper investigates the problem of consensus tracking control of discrete time multi-agent systems under binary-valued communication. Different from most existing studies on consensus tracking, the transmitted information between agents…
This paper studies the consensus problem of multi-agent systems with asymmetric and reducible topologies. Centralized event-triggered rules are provided so as to reduce the frequency of system's updating. The diffusion coupling feedbacks of…
Multi-agent coordination algorithms with randomized interactions have seen use in a variety of settings in the multi-agent systems literature. In some cases, these algorithms can be random by design, as in a gossip-like algorithm, and in…
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…
While multi-agent interactions can be naturally modeled as a graph, the environment has traditionally been considered as a black box. We propose to create a shared agent-entity graph, where agents and environmental entities form vertices,…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
This work proposes a framework that incorporates trust in an ad hoc teamwork scenario with human-agent teams, where an agent must collaborate with a human to perform a task. During the task, the agent must infer, through interactions and…
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…
In this paper we propose a novel distributed model predictive control (DMPC) based algorithm with a trajectory predictor for a scenario of landing of unmanned aerial vehicles (UAVs) on a moving unmanned surface vehicle (USV). The algorithm…
Ad hoc teamwork refers to the problem of enabling an agent to collaborate with teammates without prior coordination. Data-driven methods represent the state of the art in ad hoc teamwork. They use a large labeled dataset of prior…