Related papers: Heterogeneous Multi-Agent Multi-Target Tracking us…
The Multi-Agent Path Finding (MAPF) problem aims to determine the shortest and collision-free paths for multiple agents in a known, potentially obstacle-ridden environment. It is the core challenge for robotic deployments in large-scale…
We propose a framework for the decentralized control of a team of agents that are assigned local tasks expressed as Linear Temporal Logic (LTL) formulas. Each local LTL task specification captures both the requirements on the respective…
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,…
Many multiagent systems in the real world include multiple types of agents with different abilities and functionality. Such heterogeneous multiagent systems have significant practical advantages. However, they also come with challenges…
This work focuses on exploring the potential benefits of introducing a nonlinear Laplacian in Sheaf Neural Networks for graph-related tasks. The primary aim is to understand the impact of such nonlinearity on diffusion dynamics, signal…
Synchronization among autonomous agents via local interactions is one of the benchmark problems in multi-agent control. Whereas synchronization algorithms for identical agents have been thoroughly studied, synchronization of heterogeneous…
The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spatial distribution-matching deployment. Coverage control may…
Distributed algorithms of multi-agent coordination have attracted substantial attention from the research community; the simplest and most thoroughly studied of them are consensus protocols in the form of differential or difference…
We introduce a new graph neural operator-based approach for task allocation in a system of heterogeneous robots composed of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or…
This paper studies optimal consensus tracking problem of heterogeneous linear multi-agent systems. By introducing tracking error dynamics, the optimal tracking problem is reformulated as finding a Nash-equilibrium solution of a multi-player…
This paper presents a distributed Lyapunov-based control framework for achieving both complete and phase synchronization in a class of leader-follower multi-agent systems composed of identical chaotic agents. The proposed approach…
The work done in this paper, proposes a complex Laplacian-based distributed control scheme for convergence in the multi-agent network. The proposed scheme has been designated as cascade formulation. The proposed technique exploits the…
An important aspect in jointly analysing networked control systems and their communication is to model the networking in a sufficiently rich but at the same time mathematically tractable way. As such, this paper improves on a recently…
This study develops an original and innovative matrix representation with respect to the information flow for networked multi-agent system. To begin with, the general concepts of the edge Laplacian of digraph are proposed with its algebraic…
This paper studies synchronization of homogeneous and heterogeneous discrete-time multi-agent systems. A class of linear dynamic protocol design methodology is developed based on localized information exchange with neighbors which does not…
Nowadays, unmanned aerial vehicles (UAVs) are increasingly utilized in search and rescue missions, a trend driven by technological advancements, including enhancements in automation, avionics, and the reduced cost of electronics. In this…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
We study a graph pathfinding problem Distance-$r$ Independent Unlabeled Multi-Agent Pathfinding, finding a set of collision-free paths between two sets where agents must stay at pairwise distance at least $r+1$ at all times. This additional…
Heterogeneous graphs, whose nodes and edges can belong to different types and feature spaces, arise in many real-world domains, including biology, recommendation, social networks, and computer systems. Existing heterogeneous graph neural…
This paper studies the task-space coordinated tracking of a time-varying leader for multiple heterogeneous manipulators (MHMs), containing redundant manipulators and nonredundant ones. Different from the traditional coordinated control,…