Related papers: Heterogeneous Multi-Agent Multi-Target Tracking us…
Techniques for coordination of multi-agent systems are vast and varied, often utilizing purpose-built solvers or controllers with tight coupling to the types of systems involved or the coordination goal. In this paper, we introduce a…
Cellular sheaves and sheaf Laplacians provide a far-reaching generalization of graphs and graph Laplacians, resulting in a wide array of applications ranging from machine learning to multi-agent control. In the context of multi-agent…
In this paper, scalable controller design to achieve output synchronization for a heterogeneous discrete-time nonlinear multi-agent system is considered. The agents are assumed to exhibit potentially nonlinear dynamics but share linear…
In this paper, we consider a robust consensus tracking problem of heterogeneous multi-agent systems with time-varying interconnection topologies. Based on common Lyapunov function and internal model techniques, both state and output…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and 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…
This paper presents novel solutions of the data-based synchronization problem for continuous-time multiagent systems. We consider the cases of homogeneous and heterogeneous systems. First, we obtain a data-based representation of the…
This paper addresses a formation tracking problem for nonlinear multi-agent systems with time-varying actuator faults, in which only a subset of agents has access to the leader's information over the directed leader-follower network with a…
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…
Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…
This paper investigates the distributed consensus tracking control problem for general linear multi-agent systems (MASs) with external disturbances and heterogeneous time-varying input and communication delays under a directed communication…
The existing results on controllability of multi-agents networks are mostly based on homogeneous nodes. This paper focuses on controllability of heterogeneous multi-agent networks, where the agents are modeled as two types. One type is that…
The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the…
This paper introduces a decentralized multi-agent reinforcement learning framework enabling structurally heterogeneous teams of agents to jointly discover and acquire randomly located targets in environments characterized by partial…
Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…
A distributed cooperative control law for persistent coverage tasks is proposed, capable of coordinating a team of heterogeneous agents in a structured environment. Team heterogeneity is considered both at vehicles' dynamics and at coverage…
Local interaction laws governing multi-agent systems can be difficult to recover from trajectory data, even when the dynamics are observed faithfully. In systems governed by a nonlinear sheaf Laplacian -- a generalization of the graph…
This paper addresses the problem of multitarget tracking using a network of sensing agents with unknown positions. Agents have to both localize themselves in the sensor network and, at the same time, perform multitarget tracking in the…
Multi-agent shepherding represents a challenging distributed control problem where herder agents must coordinate to guide independently moving targets to desired spatial configurations. Most existing control strategies assume cohesive…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…