Related papers: R3R: Decentralized Multi-Agent Collision Avoidance…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…
This paper introduces an approach to address the target enclosing problem using non-holonomic multiagent systems, where agents self-organize on the enclosing shape around a fixed target. In our approach, agents independently move toward the…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
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…
A novel decentralised trajectory generation algorithm for Multi Agent systems is presented. Multi-robot systems have the capacity to transform lives in a variety of fields. But, trajectory generation for multi-robot systems is still in its…
Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…
Ensuring safe, robust, and scalable motion planning for multi-agent systems in dynamic and uncertain environments is a persistent challenge, driven by complex inter-agent interactions, stochastic disturbances, and model uncertainties. To…
Multi-agent collision-free trajectory planning and control subject to different goal requirements and system dynamics has been extensively studied, and is gaining recent attention in the realm of machine and reinforcement learning. However,…
Safety guarantees in motion planning for autonomous driving typically involve certifying the trajectory to be collision-free under any motion of the uncontrollable participants in the environment, such as the human-driven vehicles on the…
High-speed, low-latency obstacle avoidance that is insensitive to sensor noise is essential for enabling multiple decentralized robots to function reliably in cluttered and dynamic environments. While other distributed multi-agent collision…
Multi-agent safe systems have become an increasingly important area of study as we can now easily have multiple AI-powered systems operating together. In such settings, we need to ensure the safety of not only each individual agent, but…
We present a decentralized collision avoidance method for dense environments that is based on buffered Voronoi cells (BVC) and reciprocal velocity obstacles (RVO). Our approach is designed for scenarios with large number of close proximity…
This paper addresses the fundamental problem of non-uniform area coverage in multi-agent systems, where different regions require varying levels of attention due to mission-dependent priorities. Existing uniform coverage strategies are…
We present DM$^3$-Nav, a fully decentralized multi-agent semantic navigation system supporting multimodal open-vocabulary goal specification and multi-object missions. In our setting, decentralization implies operation without a central…
This paper presents a novel framework which combines a non-iterative solution of Real-Time Nonlinear Receding Horizon Control (NRHC) methodology to achieve consensus within complex network topologies with existing time-delays and in…