Related papers: Efficient routing of multiple vehicles with no com…
Many safety-critical real-world problems, such as autonomous driving and collaborative robots, are of a distributed multi-agent nature. To optimize the performance of these systems while ensuring safety, we can cast them as distributed…
In this paper a deep reinforcement based multi-agent path planning approach is introduced. The experiments are realized in a simulation environment and in this environment different multi-agent path planning problems are produced. The…
This paper presents an optimization framework to model Formula 1 racing dynamics, where multiple cars interact physically and strategically. Aerodynamic wake effects, trajectory optimization, and energy management are integrated by means of…
This paper studies the synchronization problem of second-order nonlinear multi-agent systems with intermittent communication in the presence of irregular communication delays and possible information loss. The control objective is to steer…
We address the generalized Nash equilibrium seeking problem in a partial-decision information scenario, where each agent can only exchange information with some neighbors, although its cost function possibly depends on the strategies of all…
We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…
In this paper, we consider a discrete-time stochastic control problem with uncertain initial and target states. We first discuss the connection between optimal transport and stochastic control problems of this form. Next, we formulate a…
This paper focuses on two commonly used path assignment policies for agents traversing a congested network: self-interested routing, and system-optimum routing. In the self-interested routing policy each agent selects a path that optimizes…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
We address the multi-agent motion planning problem where interactions, collisions, and congestion co-exist. Conventional game-theoretic planners capture interactions among agents but often converge to conservative, congested equilibria.…
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…
Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal…
In this article, we revisit a communication-control co-design problem for a class of two-player stochastic differential games on an infinite horizon. Each 'player' represents two active decision makers, namely a scheduler and a remote…
The multi-path Traveling Salesman Problem with stochastic travel costs arises in hybrid vehicle routing applications designed for Smart City and City Logistics, where multiple paths exist between each pair of locations. Travel times along…
This paper addresses the traffic management problem for autonomous vehicles at intersections without traffic signals. In the current system, a road junction has no traffic signals when the traffic volume is low to medium. Installing…
In this paper, we study proximal type dynamics in the context of noncooperative multi-agent network games. These dynamics arise in different applications, since they describe distributed decision making in multi-agent networks, e.g., in…
We study atomic routing games where every agent travels both along its decided edges and through time. The agents arriving on an edge are first lined up in a \emph{first-in-first-out} queue and may wait: an edge is associated with a…
This paper focuses on the problem of distributed consensus control of multi-agent systems while considering two main practical concerns (i) stochastic noise in the agent dynamics and (ii) predefined performance constraints over evolutions…
We address the problem of persistent monitoring, where a finite set of mobile agents has to persistently visit a finite set of targets. Each of these targets has an internal state that evolves with linear stochastic dynamics. The agents can…
We consider the platoon matching problem for a set of trucks with the same origin, but different destinations. It is assumed that the vehicles benefit from traveling in a platoon for instance through reduced fuel consumption. The vehicles…