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Applications such as employees sharing office spaces over a workweek can be modeled as problems where agents are matched to resources over multiple rounds. Agents' requirements limit the set of compatible resources and the rounds in which…
We study the problem of multi-agent control of a dynamical system with known dynamics and adversarial disturbances. Our study focuses on optimal control without centralized precomputed policies, but rather with adaptive control policies for…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
We study the computational complexity of "public goods games on networks". In this model, each vertex in a graph is an agent that needs to take a binary decision of whether to "produce a good" or not. Each agent's utility depends on the…
A cyber security problem in a networked system formulated as a resilient graph problem based on a game-theoretic approach is considered. The connectivity of the underlying graph of the network system is reduced by an attacker who removes…
The paper presents a novel approach for the analysis and control of a multi-agent system with non-identical agents and a path-graph topology. With the help of irrational wave transfer functions, the approach describes the interaction among…
This paper introduces the notion of weak rigidity to characterize a framework by pairwise inner products of inter-agent displacements. Compared to distance-based rigidity, weak rigidity requires fewer constrained edges in the graph to…
Deep reinforcement learning (RL) has achieved outstanding results in recent years, which has led a dramatic increase in the number of methods and applications. Recent works are exploring learning beyond single-agent scenarios and…
A challenge in multiagent control systems is to ensure that they are appropriately resilient to communication failures between the various agents. In many common game-theoretic formulations of these types of systems, it is implicitly…
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,…
We give logarithmic lower bounds for the approximability of the Minimum Dominating Set problem in connected (alpha,beta)-Power Law Graphs. We give also a best up to now upper approximation bound on the problem for the case of the parameters…
In this paper, we propose a game between an exogenous adversary and a network of agents connected via a multigraph. The multigraph is composed of (1) a global graph structure, capturing the virtual interactions among the agents, and (2) a…
Multi-agent systems are prevalent in a wide range of domains including power systems, vehicular networks, and robotics. Two important problems to solve in these types of systems are how the intentions of non-coordinating agents can be…
In this paper, we study a model reduction technique for leader-follower networked multi-agent systems defined on weighted, undirected graphs with arbitrary linear multivariable agent dynamics. In the network graph of this network, nodes…
Modeling agent behavior is central to understanding the emergence of complex phenomena in multiagent systems. Prior work in agent modeling has largely been task-specific and driven by hand-engineering domain-specific prior knowledge. We…
A recent approach to the control of underactuated systems is to look for control laws which will induce some specified structure on the closed loop system. This basic idea is used in several papers already. In this paper, we will describe…
Multi-agent pathfinding (MAPF) is a challenging problem which is hard to solve optimally even when simplifying assumptions are adopted, e.g. planar graphs (typically -- grids), discretized time, uniform duration of move and wait actions…
This paper connects multi-agent path planning on graphs (roadmaps) to network flow problems, showing that the former can be reduced to the latter, therefore enabling the application of combinatorial network flow algorithms, as well as…
We study the computational complexity of multi-agent path finding (MAPF). Given a graph $G$ and a set of agents, each having a start and target vertex, the goal is to find collision-free paths minimizing the total distance traveled. To…
In recent years, there has been some outstanding work on applying deep reinforcement learning to multi-agent settings. Often in such multi-agent scenarios, adversaries can be present. We address the requirements of such a setting by…