Related papers: Multi-agent coordination using nearest neighbor ru…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
Exploring the collective behavior of interacting entities is of great interest and importance. Rather than focusing on static and uniform connections, we examine the co-evolution of diverse mobile agents experiencing varying interactions…
Vehicular traffic is a classical example of a multi-agent system in which autonomous drivers operate in a shared environment. The article provides an overview of the state-of-the-art in microscopic traffic modeling and the implications for…
This paper aims at coordinating interconnected agents where the control input of each agent is limited by the control input of others. In that sense, the systems have to share a limited resource over a network. Such problems can arise in…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
This paper studies the synchronization of a multi-agent system where the agents are coupled through heterogeneous controller gains. Synchronization refers to the situation where all the agents in a group have a common velocity direction. We…
Understanding collective self-organization in active matter, such as bird flocks and fish schools, remains a grand challenge in physics. Interactions that induce alignment are essential for flocking; however, alignment alone is generally…
While multi-agent interactions can be naturally modeled as a graph, the environment has traditionally been considered as a black box. We propose to create a shared agent-entity graph, where agents and environmental entities form vertices,…
Our earlier work titled: "Win-move is Coordination-Free (Sometimes)" has shown that the classes of queries that can be distributedly computed in a coordination-free manner form a strict hierarchy depending on the assumptions of the model…
We investigate the problem of co-designing computation and communication in a multi-agent system (e.g. a sensor network or a multi-robot team). We consider the realistic setting where each agent acquires sensor data and is capable of local…
Constrained multi-agent reinforcement learning offers the framework to design scalable and almost surely feasible solutions for teams of agents operating in dynamic environments to carry out conflicting tasks. We address the challenges of…
This paper presents a scalable decentralized multi agent framework that facilitates the exchange of information between computing units through computer networks. The architectural boundaries imposed by the tool make it suitable for…
A multi-agent model for individuals endowed with strategies and subject to diffusive effects is proposed. The microscopic state of each agent is described by a spatial position and a probability measure, interpreted as a mixed strategy,…
We present an active control scheme of a kinetic model of swarming. It has been shown previously that the global control scheme for the model, presented in \cite{JK04}, gives rise to spontaneous collective organization of agents into a…
Recent breakthroughs in large language model-driven autonomous agents have revealed that multi-agent collaboration often surpasses each individual through collective reasoning. Inspired by the neural scaling law--increasing neurons enhances…
The multi-agent system has been a hot topic in the past few decades owing to its lower cost, higher robustness, and higher flexibility. As a particular multi-agent system, the multiple rigid body system received a growing interest for its…
This paper investigates the autonomous synchronization problem for discrete-time heterogeneous multiagent systems. The synchronization problem is transformed into the asymptotic decoupling problem of stable modes in a class of discrete-time…
We study the self-assembly of a complex network of collaborations among self-interested agents. The agents can maintain different levels of cooperation with different partners. Further, they continuously, selectively, and independently…
Information transfer is an essential factor in determining the robustness of collective behaviour in biological systems with distributed control. The most direct way to study the information transfer mechanisms is to experimentally detect…
We introduce a multi-agent model for exploring how selection of neighbours determines some aspects of order and cohesion in swarms. The model algorithm states that every agents' motion seeks for an optimal distance from the nearest…