Related papers: Agree to Disagree: Consensus-Free Flocking under C…
Defining and measuring trust in dynamic, multiagent teams is important in a range of contexts, particularly in defense and security domains. Team members should be trusted to work towards agreed goals and in accordance with shared values.…
The well-known Cucker-Smale model is a macroscopic system reflecting flocking, i.e. the alignment of velocities in a group of autonomous agents having mutual interactions. In the present paper, we consider the mean-field limit of that…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
With the increasing prevalence and diversity of robots interacting in the real world, there is need for flexible, on-the-fly planning and cooperation. Large Language Models are starting to be explored in a multimodal setup for…
The deployment of simple emergent behaviors in swarm robotics has been well-rehearsed in the literature. A recent study has shown how self-aggregation is possible in a multitask approach -- where multiple self-aggregation task instances…
The main approach to evaluating communication is by assessing how well it facilitates coordination. If two or more individuals can coordinate through communication, it is generally assumed that they understand one another. We investigate…
Cooperation in multi-agent and multi-robot systems can help agents build various formations, shapes, and patterns presenting corresponding functions and purposes adapting to different situations. Relationships between agents such as their…
We propose an asynchronous, decentralized algorithm for consensus optimization. The algorithm runs over a network in which the agents communicate with their neighbors and perform local computation. In the proposed algorithm, each agent can…
Achieving consensus among noncooperative agents remains challenging in decentralized multi-agent systems, where agents often have conflicting preferences. Existing coordination methods enable agents to reach consensus without a centralized…
Reaching consensus is key to multi-agent coordination. To accomplish a cooperative task, agents need to coherently select optimal joint actions to maximize the team reward. However, current cooperative multi-agent reinforcement learning…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…
From a mathematical point of view self-organization can be described as patterns to which certain dynamical systems modeling social dynamics tend spontaneously to be attracted. In this paper we explore situations beyond self-organization,…
Flocking is ubiquitous in nature and emerges due to short- or long-range alignment interactions among self-propelled agents. Two unfriendly species that antialign or even interact nonreciprocally show more complex collective phenomena,…
The increasing prevalence of artificial agents creates a correspondingly increasing need to manage disagreements between humans and artificial agents, as well as between artificial agents themselves. Considering this larger space of…
As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…
Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…
Trust between team members is an essential requirement for any successful cooperation. Thus, engendering and maintaining the fellow team members' trust becomes a central responsibility for any member trying to not only successfully…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
We investigate consensus formation and flocking behavior in multi-agent systems subject to two distinct types of delays: a transmission delay accounting for information exchange between agents, and a reaction delay representing the…