Related papers: Collaborative Altruistic Safety in Coupled Multi-A…

This paper explores the application of Hamilton's rule to altruistic decision-making in multi-agent systems. Inspired by biological altruism, we introduce a framework that evaluates when individual agents should incur costs to benefit their…

This paper presents a multi-team collaboration strategy based on Hamilton's rule from ecology that facilitates resource allocation among multiple teams, where agents are considered as shared resource among all teams that must be allocated…

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…

This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…

This paper studies heterogeneous multi-team collaboration through dynamic robot allocation, where robots are treated as transferable resources. Leveraging Hamilton's rule from ecology as an altruistic decision-making mechanism, we propose a…

From autonomous driving to package delivery, ensuring safe yet efficient multi-agent interaction is challenging as the interaction dynamics are influenced by hard-to-model factors such as social norms and contextual cues. Understanding…

Despite the advances in the autonomous driving domain, autonomous vehicles (AVs) are still inefficient and limited in terms of cooperating with each other or coordinating with vehicles operated by humans. A group of autonomous and…

In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but also a high flexibility of the robot behavior in order to…

Motivated by the recent interest in cyber-physical and autonomous robotic systems, we study the problem of dynamically coupled multi-agent systems under a set of signal temporal logic tasks. In particular, the satisfaction of each of these…

Coalitional control is concerned with the management of multi-agent systems where cooperation cannot be taken for granted (due to, e.g., market competition, logistics). This paper proposes a model predictive control (MPC) framework aimed at…

This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…

In this paper, we study cooperative multi-agent systems in which the target objective and the controls exercised by the agents are dependent on the choices they made at initial system time. Such systems have been investigated in several…

This paper analyzes the relationships between demographic and state-based evolutionary games and Hamilton's rule. It is shown that the classical Hamilton's rule (counterfactual method), combined with demographic payoffs, leads to easily…

This paper presents a hybrid safety-critical coordination architecture for multi-agent systems operating in dense environments. While control barrier functions (CBFs) provide formal safety guarantees, decentralized implementations typically…

This letter explores the implementation of a safe control law for systems of dynamically coupled cooperating agents. Under a CBF-based collaborative safety framework, we examine how the maximum safety capability for a given agent, which is…

We propose a novel framework that computes the corrective control efforts to ensure joint safety in multi-agent dynamical systems. This framework efficiently distributes the required corrective effort without revealing individual agents'…

Widespread adoption of autonomous vehicles will not become a reality until solutions are developed that enable these intelligent agents to co-exist with humans. This includes safely and efficiently interacting with human-driven vehicles,…

The level of autonomy is increasing in systems spanning multiple domains, but these systems still experience failures. One way to mitigate the risk of failures is to integrate human oversight of the autonomous systems and rely on the human…

This work in progress considers reachability-based safety analysis in the domain of autonomous driving in multi-agent systems. We formulate the safety problem for a car following scenario as a differential game and study how different…

In cooperative multi-agent robotic systems, coordination is necessary in order to complete a given task. Important examples include search and rescue, operations in hazardous environments, and environmental monitoring. Coordination, in…