Related papers: Topology Estimation for Open Multi-Agent Systems
For a multi-agent system state estimation resting upon noisy measurements constitutes a problem related to several application scenarios. Adopting the standard least-squares approach, in this work we derive both the (centralized) analytic…
Swarming systems, such as drone fleets and robotic teams, exhibit complex dynamics driven by both individual behaviors and emergent group-level interactions. Unlike traditional multi-agent domains such as pedestrian crowds or traffic…
In this paper, we study the continuous-time consensus problem in the presence of adversaries. The networked multi-agent system is modeled as a switched system, where the normal agents have integrator dynamics and the switching signal…
In this paper, we study asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented only based on the state information at some…
Large Language Model-based Multi-Agent Systems (MASs) have emerged as a powerful paradigm for tackling complex tasks through collaborative intelligence. However, the topology of these systems--how agents in MASs should be configured,…
We study clustering properties of networks of single integrator nodes over a directed graph, in which the nodes converge to steady-state values. These values define clustering groups of nodes, which depend on interaction topology, edge…
In this paper, we present the benefits of exploring different topologies with equal connectivity measure, or iso-connectivity topologies, in relation to the multiagent system dynamics. The level of global information sharing ability among…
Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state is available or not, two distributed protocols are proposed to ensure…
Modern artificial intelligence relies on networks of agents that collect data, process information, and exchange it with neighbors to collaboratively solve optimization and learning problems. This article introduces a novel distributed…
The interaction topology is critical for efficient cooperation of mobile robotic networks (MRNs). We focus on the local topology inference problem of MRNs under formation control, where an inference robot with limited observation range can…
This work studies the problem of inferring whether an agent is directly influenced by another agent over an adaptive diffusion network. Agent i influences agent j if they are connected (according to the network topology), and if agent j…
In this paper we propose a novel consensus protocol for discrete-time multi-agent systems (MAS), which solves the dynamic consensus problem on the max value, i.e., the dynamic max-consensus problem. In the dynamic max-consensus problem to…
Trajectory optimization in multi-vehicle scenarios faces challenges due to its non-linear, non-convex properties and sensitivity to initial values, making interactions between vehicles difficult to control. In this paper, inspired by…
Solving optimization problems in multi-agent systems (MAS) involves information exchange between agents. These solutions must be robust to delays and errors that arise from an unreliable wireless network which typically connects the MAS. In…
In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact…
Multi-agent systems are prevalent in a wide range of domains including power systems, vehicular networks, and robotics. Two important problems to solve in these types of systems are how the intentions of non-coordinating agents can be…
We investigate in detail a recent model of colliding mobile agents [Phys. Rev. Lett.~96, 088702], used as an alternative approach to construct evolving networks of interactions formed by the collisions governed by suitable dynamical rules.…
This article addresses the problem of reconstructing the topology of a network of agents interacting via linear dynamics, while being excited by exogenous stochastic sources that are possibly correlated across the agents, from time-series…
Multi-agent systems (MAS) have emerged as a promising paradigm for solving complex tasks. Recent work has explored self-evolving MAS that automatically optimize agent capabilities or communication topologies. However, existing methods…
We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…