Related papers: A Graph-Theoretical Perspective on Law Design for …

Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…

We discuss C-MP and C-MAPF, generalizations of the classical Motion Planning (MP) and Multi-Agent Path Finding (MAPF) problems on a directed graph G. Namely, we enforce an upper bound on the number of agents that occupy each member of a…

Motivated by real-world applications such as the allocation of public housing, we examine the problem of assigning a group of agents to vertices (e.g., spatial locations) of a network so that the diversity level is maximized. Specifically,…

In this work, we consider the problem of autonomous racing with multiple agents where agents must interact closely and influence each other to compete. We model interactions among agents through a game-theoretical framework and propose an…

We study a fair division problem in (multi)graphs where $n$ agents (vertices) are pairwise connected by items (edges), and each agent is only interested in its incident items. We consider how to allocate items to incident agents in an…

In many covering settings, it is natural to consider the presence both of elements that we seek to include and of elements that we seek to avoid. This paper introduces a novel combinatorial problem formalizing this tradeoff: from a…

Graph-theoretic tools and techniques have seen wide use in the multi-agent systems literature, and the unpredictable nature of some multi-agent communications has been successfully modeled using random communication graphs. Across both…

Modeling the purposeful behavior of imperfect agents from a small number of observations is a challenging task. When restricted to the single-agent decision-theoretic setting, inverse optimal control techniques assume that observed behavior…

We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective…

The use of game theoretic methods for control in multiagent systems has been an important topic in recent research. Valid utility games in particular have been used to model real-world problems; such games have the convenient property that…

We study a non-exchangeable multi-agent system and rigorously derive a strong form of the mean-field limit. The convergence of the connection weights and the initial data implies convergence of large-scale dynamics toward a deterministic…

Safety is the primary concern when it comes to air traffic. In-flight safety between Unmanned Aircraft Vehicles (UAVs) is ensured through pairwise separation minima, utilizing conflict detection and resolution methods. Existing methods…

A key challenge in multi-robot and multi-agent systems is generating solutions that are robust to other self-interested or even adversarial parties who actively try to prevent the agents from achieving their goals. The practicality of…

The purpose of this review paper is to present some recent results on the modeling and control of large systems of agents. We focus on particular applications where the agents are capable of independent actions instead of simply reacting to…

Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…

Rapid urbanization and growing urban populations worldwide present significant challenges for cities, including increased traffic congestion and air pollution. Effective strategies are needed to manage traffic volumes and reduce emissions.…

Multi-agent networked linear dynamic systems have attracted attention of researchers in power systems, intelligent transportation, and industrial automation. The agents might cooperatively optimize a global performance objective, resulting…

This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…

For a multi-agent system state estimation resting upon noisy measurements constitutes a problem related to several application scenarios. Adopting the standard least-squares approach, in this work we derive both the (centralized) analytic…

We study the problem of inferring communication structures that can solve cooperative multi-agent planning problems while minimizing the amount of communication. We quantify the amount of communication as the maximum degree of the…