Related papers: Heterogeneous Multi-Agent Multi-Target Tracking us…
Tracking multiple time-varying states based on heterogeneous observations is a key problem in many applications. Here, we develop a statistical model and algorithm for tracking an unknown number of targets based on the probabilistic fusion…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
In this paper we study the problem of cooperative searching and tracking (SAT) of multiple moving targets with a group of autonomous mobile agents that exhibit limited sensing capabilities. We assume that the actual number of targets is not…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
The existing result on the cooperative output regulation problem for unknown linear multi-agent systems using a data-driven distributed internal model approach is limited to the case where each follower is a single-input and single-output…
We present preliminary results on the problem of driving the dynamics of a group of agents, the herders, so as to steer the collective behaviour of another group of agents, the targets, interacting with them. We define this problem as the…
This paper proposes two nonlinear dynamics to solve constrained distributed optimization problem for resource allocation over a multi-agent network. In this setup, coupling constraint refers to resource-demand balance which is preserved at…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
Integrated sensing and communication (ISAC) is a key enabler of 6G, supporting environment-aware services. A fundamental sensing task in this setting is reliable multi-target detection and tracking. This paper proposes a temporal graph…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
Since the complexity of the practical environment, many distributed networked systems can not be illustrated with the integer-order dynamics and only be described as the fractional-order dynamics. Suppose multi-agent systems will show the…
In this paper, a distributed output regulation problem is formulated for a class of uncertain nonlinear multi-agent systems subject to local disturbances. The formulation is given to study a leader-following problem when the leader contains…
This paper addresses distributed average tracking of physical second-order agents with nonlinear dynamics, where the interaction among the agents is described by an undirected graph. In both agents' and reference inputs' dynamics, there is…
In this paper, a distributed average tracking problem is studied for Lipschitz-type nonlinear dynamical systems. The objective is to design distributed average tracking algorithms for locally interactive agents to track the average of…
We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers toward a desired spatial distribution. Unlike prior work, we…
Multi-agent embodied tasks have recently been studied in complex indoor visual environments. Collaboration among multiple agents can improve work efficiency and has significant practical value. However, most of the existing research focuses…
Multi-Agent Path Finding (MAPF) is the problem of moving multiple agents from starts to goals without collisions. Lifelong MAPF (LMAPF) extends MAPF by continuously assigning new goals to agents. We present our winning approach to the 2023…
This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility…
We study a multi-agent output regulation problem, where not all agents have access to the exosystem's dynamics. We propose a fully distributed controller that solves the problem for linear, heterogeneous, and uncertain agent dynamics as…
Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers. We use deep reinforcement learning for pursuing an omni-directional target with multiple, homogeneous agents that are subject to unicycle kinematic…