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We propose a mathematical framework for synthesizing motion plans for multi-agent systems that fulfill complex, high-level and formal local specifications in the presence of inter-agent communication. The proposed synthesis framework…
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
In this paper, we propose a distributionally robust control synthesis for an agent with stochastic dynamics that interacts with other agents under uncertainties and constraints expressed by signal temporal logic (STL). We formulate the…
One of the main challenges in multi-agent reinforcement learning is scalability as the number of agents increases. This issue is further exacerbated if the problem considered is temporally dependent. State-of-the-art solutions today mainly…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the…
Multi-agent systems (MASs) consisting of a number of autonomous agents that communicate, coordinate, and jointly sense the environment to achieve complex missions can be found in a variety of applications such as robotics, smart cities, and…
In this paper, a multi-agent coordination problem with steady-state regulation constraints is investigated for a class of nonlinear systems. Unlike existing leader-following coordination formulations, the reference signal is not given by a…
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…
This paper is concerned with the design of a distributed cooperative synchronization controller for a class of higher-order nonlinear multi-agent systems. The objective is to achieve synchronization and satisfy a predefined time-based…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
This paper addresses the multi-agent control problem under global temporal logic tasks, considering agents with heterogeneous capabilities. These global tasks involve not only absolute and relative temporal and spatial constraints, but also…
A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…
This paper addresses the problem of decentralized tube-based nonlinear Model Predictive Control (NMPC) for a class of uncertain nonlinear continuous-time multi-agent systems with additive and bounded disturbance. In particular, the problem…
In multi-agent systems, signal temporal logic (STL) is widely used for path planning to accomplish complex objectives with formal safety guarantees. However, as the number of agents increases, existing approaches encounter significant…
In this paper, we study the cooperative output regulation problem for the discrete linear time-delay multi-agent systems by distributed observer approach. In contrast with the same problem for continuous-time linear time-delay multi-agent…
In this paper, we first present an adaptive distributed observer for a discrete-time leader system. This adaptive distributed observer will provide, to each follower, not only the estimation of the leader's signal, but also the estimation…
Signal Temporal Logic (STL) is a formal language over continuous-time signals (such as trajectories of a multi-agent system) that allows for the specification of complex spatial and temporal system requirements (such as staying sufficiently…
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…