Related papers: Control of Multi-agent Systems under STL Specifica…
Learning control policies for complex, long-horizon tasks is a central challenge in robotics and autonomous systems. Signal Temporal Logic (STL) offers a powerful and expressive language for specifying such tasks, but its non-Markovian…
We study cooperative output feedback tracking control of stochastic linear heterogeneous leader-following multi-agent systems. Each agent has a continuous-time linear heterogeneous dynamics with incompletely measurable state, and there are…
This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals expressed as Linear Temporal Logic (LTL) formulas. In particular, we design…
In this paper, we study the cooperative output regulation problem for the discrete linear time-delay multi-agent systems by distributed observer approach. In contrast with the same problem for continuous-time linear time-delay multi-agent…
This paper studies regulated state synchronization of discrete-time homogeneous networks of non-introspective agents in presence of unknown non-uniform input delays. A scale free protocol is designed based on additional information…
Generating realistic simulations is critical for autonomous system applications such as self-driving and human-robot interactions. However, driving simulators nowadays still have difficulty in generating controllable, diverse, and…
In this paper, containment control of multi-agent systems with measurement noises is studied under directed networks. When the leaders are stationary, a stochastic approximation type protocol is employed to solve the containment control of…
We present a mathematical programming-based method for model predictive control of cyber-physical systems subject to signal temporal logic (STL) specifications. We describe the use of STL to specify a wide range of properties of these…
A k-order coverage control problem is studied where a network of agents must deploy over a desired area. The objective is to deploy all the agents in a decentralized manner such that a certain coverage performance metric of the network is…
In this paper, a distributed optimal steady-state regulation problem is formulated and investigated for heterogeneous linear multi-agent systems subject to external disturbances. We aim to steer this high-order multi-agent network to a…
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…
In this paper, we address the problem of prescribed-time leader-following consensus of heterogeneous multi-agent systems (MASs) in the presence of unknown sensor sensitivity. Under a connected undirected topology, we propose a time-varying…
This paper introduces a decentralized multi-agent reinforcement learning framework enabling structurally heterogeneous teams of agents to jointly discover and acquire randomly located targets in environments characterized by partial…
Automated vehicles (AV) heavily depend on robust perception systems. Current methods for evaluating vision systems focus mainly on frame-by-frame performance. Such evaluation methods appear to be inadequate in assessing the performance of a…
Human-centric traffic signal control in corridor networks must increasingly account for multimodal travelers, particularly high-occupancy public transportation, rather than focusing solely on vehicle-centric performance. This paper proposes…
This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…
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…
Decentralized cooperative pursuit in cluttered environments is challenging for autonomous aerial swarms, especially under partial and noisy perception. Existing methods often rely on abstracted geometric features or privileged ground-truth…
Real-world robotic systems must comply with safety requirements in the presence of uncertainty. To define and measure requirement adherence, Signal Temporal Logic (STL) offers a mathematically rigorous and expressive language. However,…
Control synthesis from temporal logic specifications has gained popularity in recent years. In this paper, we use a model predictive approach to control discrete time linear systems with additive bounded disturbances subject to constraints…