Related papers: A Lyapunov-based MPC for Distributed Multi Agent S…
This paper investigates a distributed goal assignment problem in leader-following formation control of second-order multi-agent systems. It is assumed that each agent can communicate with nearby agents within the communication range and the…
In this paper, we consider a set of agents, which may receive an observation of their state by a central observa- tion post via a shared wireless network. The aim of this work is to design a scheduling mechanism for the central observation…
In this paper we address the class of Sequential Decision Making (SDM) problems that are characterized by time-varying parameters. These parameter dynamics are either pre-specified or manipulable. At any given time instant the decision…
We present a distributed model predictive control (DMPC) algorithm to generate trajectories in real-time for multiple robots. We adopted the \textit{on-demand collision avoidance} method presented in previous work to efficiently compute…
The shift from monolithic LLMs to distributed multi-agent architectures demands new frameworks for verifying and securing autonomous coordination. Unlike traditional multi-agent systems focused on cooperative state alignment, modern LLM…
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.…
Distributed control/optimization is a promising approach for network systems due to its advantages over centralized schemes, such as robustness, cost-effectiveness, and improved privacy. However, distributed methods can have drawbacks, such…
The paper considers the problem of distributed adaptive linear parameter estimation in multi-agent inference networks. Local sensing model information is only partially available at the agents and inter-agent communication is assumed to be…
We propose a distributed planning method with asynchronous execution for multi-agent pickup and delivery (MAPD) problems for environments with occasional delays in agents' activities and flexible endpoints. MAPD is a crucial problem…
The emerging connected-vehicle technology provides a new dimension in developing more intelligent traffic control algorithms for signalized intersections in networked transportation systems. An important challenge for the scheduling problem…
This article investigates discrete-time matrix-weighted consensus of multi-agent networks over undirected and connected graphs. We first present consensus protocols for the agents in common networks of symmetric matrix weights with possibly…
The planning domain has experienced increased interest in the formal synthesis of decision-making policies. This formal synthesis typically entails finding a policy which satisfies formal specifications in the form of some well-defined…
This paper designs traffic signal control policies for a network of signalized intersections without knowing the demand and parameters. Within a model predictive control (MPC) framework, control policies consist of an algorithm that…
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…
This paper studies the synchronization of stochastic linear systems which are subject to a general class of noises, in the sense that the noises are bounded in covariance but might be correlated with the states of agents and among each…
In this work, we aim to obtain the optimal tradeoff between the average delay and the average power consumption in a communication system. In our system, the arrivals occur at each timeslot according to a Bernoulli arrival process and are…
This paper presents a new approach to solve linear and nonlinear model predictive control (MPC) problems that requires small memory footprint and throughput and is particularly suitable when the model and/or controller parameters change at…
This paper proposes a supervisory control structure for networked systems with time-varying delays. The control structure, in which a supervisor triggers the most appropriate controller from a multi-controller unit, aims at improving the…
We present an algorithm for the problem of linear distributed estimation of a parameter in a network where a set of agents are successively taking measurements. The approach considers a roaming token in a network that carries the estimate,…
In this paper, the optimal consensus problem for general nonlinear multi-agent systems is studied, where both leaderless and leader-follower cases are considered in a unified framework. The key idea is to convert consensus problems into…