Related papers: Optimal Transport-Based Decentralized Multi-Agent …
We introduce the concept of continuous transportation task to the context of multi-agent systems. A continuous transportation task is one in which a multi-agent team visits a number of fixed locations, picks up objects, and delivers them to…
In this paper, we consider the problem of distributed reachable set computation for multi-agent systems (MASs) interacting over an undirected, stationary graph. A full state-feedback control input for such MASs depends no only on the…
This paper considers the relaxed version of the transport problem for general nonlinear control systems, where the objective is to design time-varying feedback laws that transport a given initial probability measure to a target probability…
The basic optimal transportation problem consists in finding the most effective way of moving masses from one location to another, while minimizing the transportation cost. Such concept has been found to be useful to understand various…
We study distributed output feedback control for a heterogeneous multi-agent system (MAS), consisting of N different continuous-time linear dynamical systems. For achieving output consensus, a virtual reference model is assumed to generate…
This paper focuses on a multi-agent zeroth-order online optimization problem in a federated learning setting for target tracking. The agents only sense their current distances to their targets and aim to maintain a minimum safe distance…
The consensus control with optimal cost remains major challenging although consensus control problems have been well studied in recent years. In this paper, we study the consensus control of multi-agent system associated with a given cost…
We consider the problem of controlling the group behavior of a large number of dynamic systems that are constantly interacting with each other. These systems are assumed to have identical dynamics (e.g., birds flock, robot swarm) and their…
A multi-agent coverage problem is considered with energy-constrained agents. The objective of this paper is to compare the coverage performance between centralized and decentralized approaches. To this end, a near-optimal centralized…
Tracking multiple targets in dynamic environments using distributed sensor networks is a fundamental problem in statistical signal processing. In such scenarios, the network of mobile sensors must coordinate their actions to accurately…
Many safety-critical real-world problems, such as autonomous driving and collaborative robots, are of a distributed multi-agent nature. To optimize the performance of these systems while ensuring safety, we can cast them as distributed…
A data-driven formulation of the optimal transport problem is presented and solved using adaptively refined meshes to decompose the problem into a sequence of finite linear programming problems. Both the marginal distributions and their…
This paper studies the formation stabilization problem of asynchronous nonlinear multi-agent systems (MAS) subject to parametric uncertainties, external disturbances and bounded time-varying communication delays. A self-triggered min-max…
Feedback optimization is an increasingly popular control paradigm to optimize dynamical systems, accounting for control objectives that concern the system operation at steady-state. Existing feedback optimization techniques heavily rely on…
This paper studies an optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, the consensus point is further required to an optimal solution to some…
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…
In this work, we study the problem where a group of mobile agents needs to reach a set of goal locations, but it does not matter which agent reaches a specific goal. Unlike most of the existing works on this topic that typically assume the…
We consider the problem of decentralized optimization where a collection of agents, each having access to a local cost function, communicate over a time-varying directed network and aim to minimize the sum of those functions. In practice,…
Autonomous exploration is an application of growing importance in robotics. A promising strategy is ergodic trajectory planning, whereby an agent spends in each area a fraction of time which is proportional to its probability information…
We study distributed optimization in a cooperative multi-agent setting, where agents have to agree on the usage of shared resources and can communicate via a time-varying network to this purpose. Each agent has its own decision variables…