Related papers: When Should Agents Coordinate in Differentiable Se…
In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in…
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…
We consider the problem of multi-task reasoning (MTR), where an agent can solve multiple tasks via (first-order) logic reasoning. This capability is essential for human-like intelligence due to its strong generalizability and simplicity for…
Social dilemmas have been widely studied to explain how humans are able to cooperate in society. Considerable effort has been invested in designing artificial agents for social dilemmas that incorporate explicit agent motivations that are…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
Coordinating communication and control is a key component in the stability and performance of networked multi-agent systems. While single user networked control systems have gained a lot of attention within this domain, in this work, we…
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
Many cooperative physical tasks require that individuals play specialized roles (e.g., leader-follower). Humans are adept cooperators, negotiating these roles and transitions between roles innately. Yet how roles are delegated and…
In this paper, we consider a coordination problem for a class of heterogeneous nonlinear multi-agent systems with a prescribed input-output behavior which was represented by another input-driven system. In contrast to most existing…
Coordinated missions involving Unmanned Aerial Vehicles (UAVs) in dynamic environments pose significant challenges in maintaining both coordination and agility. In this paper, relying on the cooperative path following framework and using a…
This paper is mainly devoted to the distributed second-order multi-agent optimization problem with unbalanced and directed networks. To deal with this problem, a new distributed algorithm is proposed based on the local neighbor information…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
Reinforcement learning (RL) algorithms can find an optimal policy for a single agent to accomplish a particular task. However, many real-world problems require multiple agents to collaborate in order to achieve a common goal. For example, a…
With artificial intelligence systems becoming ubiquitous in our society, its designers will soon have to start to consider its social dimension, as many of these systems will have to interact among them to work efficiently. With this in…
The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…
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…
Coordinating the behaviour of self-interested agents in the presence of multiple Nash equilibria is a major research challenge for multi-agent systems. Pre-game communication between all the players can aid coordination in cases where the…
In fast-paced, ever-changing environments, dynamic Motion Planning for Multi-Agent Systems in the presence of obstacles is a universal and unsolved problem. Be it from path planning around obstacles to the movement of robotic arms, or in…
Humans make decisions and act alongside other humans to pursue both short-term and long-term goals. As a result of ongoing progress in areas such as computing science and automation, humans now also interact with non-human agents of varying…