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Self-navigation in non-coordinating crowded environments is formidably challenging within multi-agent systems consisting of non-holonomic robots operating through local sensing. Our primary objective is the development of a novel, rapid,…
We present a multi-agent decision-making framework for the emergent coordination of autonomous agents whose intents are initially undecided. Dynamic non-cooperative games have been used to encode multi-agent interaction, but ambiguity…
The strategic selection of resources by selfish agents has long been a key area of research, with Resource Selection Games and Congestion Games serving as prominent examples. In these traditional frameworks, agents choose from a set of…
In this study, we explore the application of game theory, in particular Stackelberg games, to address the issue of effective coordination strategy generation for heterogeneous robots with one-way communication. To that end, focusing on the…
In many game-theoretic settings, agents are challenged with taking decisions against the uncertain behavior exhibited by others. Often, this uncertainty arises from multiple sources, e.g., incomplete information, limited computation,…
With the development of autonomous driving, it is becoming increasingly common for autonomous vehicles (AVs) and human-driven vehicles (HVs) to travel on the same roads. Existing single-vehicle planning algorithms on board struggle to…
This paper addresses the task of joint multi-agent perception and planning, especially as it relates to the real-world challenge of collision-free navigation for connected self-driving vehicles. For this task, several communication-enabled…
This paper studies the effects of introducing altruistic agents into atomic congestion games. Altruistic behavior is modeled by a trade-off between selfish and social objectives. In particular, we assume agents optimize a linear combination…
We present an algorithm for a multi-agent path planning problem with pattern coordination based on dynamic programming and a Hamilton-Jacobi-Bellman equation. This falls broadly into the class of partial differential equation (PDE) based…
Modern commercial ground vehicles are increasingly equipped with multiple operational modalities (e.g., human driving, advanced driver assistance, remote tele-operation, full autonomy). These often rely on heterogeneous sensing…
This paper proposes a novel planning framework to handle a multi-agent pathfinding problem under team-connected communication constraint, where all agents must have a connected communication channel to the rest of the team during their…
This paper explores a novel extension of dynamic matching theory by analyzing a three-way matching problem involving agents from three distinct populations, each with two possible types. Unlike traditional static or two-way dynamic models,…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of…
Urban intersections are prone to delays and inefficiencies due to static precedence rules and occlusions limiting the view on prioritized traffic. Existing approaches to improve traffic flow, widely known as automatic intersection…
Multi-Agent Path-Finding (MAPF) focuses on the collaborative planning of paths for multiple agents within shared spaces, aiming for collision-free navigation. Conventional planning methods often overlook the presence of other agents, which…
This paper presents new families of algorithms for the repeated play of two-agent (near) zero-sum games and two-agent zero-sum stochastic games. For example, the family includes fictitious play and its variants as members. Commonly, the…
This paper proposes a group deliberation oriented multi-agent conversational model to address the limitations of single large language models in complex reasoning tasks. The model adopts a three-level role division architecture consisting…
We consider a two-road dynamic routing game where the state of one of the roads (the "risky road") is stochastic and may change over time. This generates room for experimentation. A central planner may wish to induce some of the (finite…