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In this paper, we investigate the control synthesis problem for Signal Temporal Logic (STL) specifications in the presence of uncontrollable agents. Existing works mainly address this problem in a robust control setting by assuming the…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
This paper focuses on the problem of distributed consensus control of multi-agent systems while considering two main practical concerns (i) stochastic noise in the agent dynamics and (ii) predefined performance constraints over evolutions…
This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…
This paper aims to achieve scalable exact output and regulated output synchronization for discrete-time multi-agent systems in presence of disturbances and measurement noise with known frequencies. Both homogeneous and heterogeneous…
This paper presents a secure-by-construction planning and control framework for multi-agent systems subject to linear temporal logic (LTL) specifications. The framework protects sensitive information from a passive intruder with partial…
This paper investigates the distributed optimal output consensus problem of heterogeneous linear multi-agent systems over weight-unbalanced directed networks. A novel distributed continuous-time state feedback controller is proposed to…
In this note, a novel observer-based output feedback control approach is proposed to address the distributed optimal output consensus problem of uncertain nonlinear multi-agent systems in the normal form over unbalanced directed graphs. The…
Reward design is a key component of deep reinforcement learning, yet some tasks and designer's objectives may be unnatural to define as a scalar cost function. Among the various techniques, formal methods integrated with DRL have garnered…
This paper proposes a distributed event-triggered control method that not only guarantees consensus of multi-agent systems but also satisfies a given LQ performance constraint. Taking the standard distributed control scheme with all-time…
In future intelligent transportation systems, networked vehicles coordinate with each other to achieve safe operations based on an assumption that communications among vehicles and infrastructure are reliable. Traditional methods usually…
We consider the control design of stochastic discrete-time linear multi-agent systems (MASs) under a global signal temporal logic (STL) specification to be satisfied at a predefined probability. By decomposing the dynamics into…
We tackle the challenging problem of multi-agent cooperative motion planning for complex tasks described using signal temporal logic (STL), where robots can have nonlinear and nonholonomic dynamics. Existing methods in multi-agent motion…
We consider a control problem involving several agents coupled through multiple unit-demand resources. Such resources are indivisible, and each agent's consumption is modeled as a Bernoulli random variable. Controlling the number of such…
In this paper, we consider scalable output and regulated output synchronization problems for heterogeneous networks of right-invertible linear agents based on localized information exchange where in the case of regulated output…
A distributed adaptive control strategy is developed for heterogeneous multiagent systems in nonlinear Brunovsky form with \({\pd}\)-dimensional $n^{\text{th}}$-order dynamics, operating under time-triggered switching communication…
Recent work in data-driven control has led to methods that find stabilizing controllers directly from measurements of an unknown system. However, for multi-agent systems we are often interested in finding controllers that take their…
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling constraints and the…
In this paper, we study delayed regulated state/output synchronization for discrete-time homogeneous and heterogeneous networks of multi-agent systems (MAS) subject to unknown, non-uniform and arbitrarily large communication delays. A delay…
In this paper, we study the cooperative robust output regulation problem for discrete-time linear multi-agent systems with both communication and input delays by distributed internal model approach. We first introduce the distributed…