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The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…

On-ramp merging is a challenging task for autonomous vehicles (AVs), especially in mixed traffic where AVs coexist with human-driven vehicles (HDVs). In this paper, we formulate the mixed-traffic highway on-ramp merging problem as a…

The design and deployment of autonomous systems for space missions require robust solutions to navigate strict reliability constraints, extended operational duration, and communication challenges. This study evaluates the stability and…

The deployment of unmanned aerial vehicle (UAV) swarm-assisted communication networks has become an increasingly vital approach for remediating coverage limitations in infrastructure-deficient environments, with especially pressing…

Communication networks able to withstand hostile environments are critically important for disaster relief operations. In this paper, we consider a challenging scenario where drones have been compromised in the supply chain, during their…

Learning how to learn efficiently is a fundamental challenge for biological agents and a growing concern for artificial ones. To learn effectively, an agent must regulate its learning speed, balancing the benefits of rapid improvement…

Recurrent neural networks in the chaotic regime exhibit complex dynamics reminiscent of high-level cortical activity during behavioral tasks. However, existing training methods for such networks are either biologically implausible, or…

Developing generalist robots capable of mastering diverse skills remains a central challenge in embodied AI. While recent progress emphasizes scaling model parameters and offline datasets, such approaches are limited in robotics, where…

Recently, deep reinforcement learning (RL) methods have been applied successfully to multi-agent scenarios. Typically, these methods rely on a concatenation of agent states to represent the information content required for decentralized…

In this paper, we propose a navigation algorithm oriented to multi-agent environment. This algorithm is expressed as a hierarchical framework that contains a Hidden Markov Model (HMM) and a Deep Reinforcement Learning (DRL) structure. For…

We consider the problem of understanding the coordinated movements of biological or artificial swarms. In this regard, we propose a learning scheme to estimate the coordination laws of the interacting agents from observations of the swarm's…

The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…

In this paper we study robust synchronization of time-fractional Hopfield neural networks with memristive couplings and Hebbian learning rules. This new model of artificial neural networks exhibits strong memory and long-range…

Modern Reinforcement Learning (RL) algorithms are able to outperform humans in a wide variety of tasks. Multi-agent reinforcement learning (MARL) settings present additional challenges, and successful cooperation in mixed-motive groups of…

In hybrid traffic environments where human-driven vehicles (HDVs) and autonomous vehicles (AVs) coexist, achieving safe and robust decision-making for AV platooning remains a complex challenge. Existing platooning systems often struggle…

Cooperation emergence in multi-agent systems represents a fundamental statistical physics problem where microscopic learning rules drive macroscopic collective behavior transitions. We propose a Q-learning-based variant of adaptive rewiring…

Adaptive cooperation in multi-agent reinforcement learning (MARL) requires policies to express homogeneous, specialised, or mixed behaviours, yet achieving this adaptivity remains a critical challenge. While parameter sharing (PS) is…

A self-learning adaptive system (SLAS) uses machine learning to enable and enhance its adaptability. Such systems are expected to perform well in dynamic situations. For learning high-performance adaptation policy, some assumptions must be…

This paper introduces a novel Multi-Agent Reinforcement Learning (MARL) framework to enhance integrated sensing and communication (ISAC) networks using unmanned aerial vehicle (UAV) swarms as sensing radars. By framing the positioning and…

Reinforcement learning algorithms are typically designed for discrete-time dynamics, even though the underlying real-world control systems are often continuous in time. In this paper, we study the problem of continuous-time reinforcement…