Related papers: Efficient routing of multiple vehicles with no com…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
Although multi-agent reinforcement learning can tackle systems of strategically interacting entities, it currently fails in scalability and lacks rigorous convergence guarantees. Crucially, learning in multi-agent systems can become…
To minimize collision risks in the multi-agent path planning problem with stochastic transition dynamics, we formulate a Markov decision process congestion game with a multi-linear congestion cost. Players within the game complete…
In this work, we study the problem where a group of mobile agents needs to reach a set of goal locations, but it does not matter which agent reaches a specific goal. Unlike most of the existing works on this topic that typically assume the…
In crowded environments, individuals must navigate around other occupants to reach their destinations. Understanding and controlling traffic flows in these spaces is relevant for coordinating robot swarms and designing infrastructure for…
In this paper, a multi-agent motion planning problem is studied aiming to minimize energy consumption of connected automated vehicles (CAVs) in lane change scenarios. We model this interactive motion planning as a generalized Nash…
Coordinating communication and control is a key component in the stability and performance of networked multi-agent systems. While single user networked control systems have gained a lot of attention within this domain, in this work, we…
We formulate computation offloading as a decentralized decision-making problem with autonomous agents. We design an interaction mechanism that incentivizes agents to align private and system goals by balancing between competition and…
Empty taxi cruising represents a wastage of resources in the context of urban taxi services. In this work, we seek to minimize such wastage. An analysis of a large trace of taxi operations reveals that the services' inefficiency is caused…
Recently, a theory for stochastic optimal control in non-linear dynamical systems in continuous space-time has been developed (Kappen, 2005). We apply this theory to collaborative multi-agent systems. The agents evolve according to a given…
In modern transportation networks, adversaries can manipulate routing algorithms using false data injection attacks, such as simulating heavy traffic with multiple devices running crowdsourced navigation applications, to mislead vehicles…
In this paper, multi-agent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuous-time dynamics with time-varying interconnection topologies. Assuming that each…
Finding feasible, collision-free paths for multiagent systems can be challenging, particularly in non-communicating scenarios where each agent's intent (e.g. goal) is unobservable to the others. In particular, finding time efficient paths…
This paper focuses on a multi-agent zeroth-order online optimization problem in a federated learning setting for target tracking. The agents only sense their current distances to their targets and aim to maintain a minimum safe distance…
Range and charge anxiety remain essential barriers to a faster electric vehicle market diffusion. To this end, quickly and reliably finding suitable charging stations may foster an electric vehicle uptake by mitigating drivers' anxieties.…
Multi-agent networked linear dynamic systems have attracted attention of researchers in power systems, intelligent transportation, and industrial automation. The agents might cooperatively optimize a global performance objective, resulting…
We propose a method, based on empirical game theory, for a robot operating as part of a team to choose its role within the team without explicitly communicating with team members, by leveraging its knowledge about the team structure. To do…
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…
Feedback Nash equilibrium strategies in multi-agent dynamic games require availability of all players' state information to compute control actions. However, in real-world scenarios, sensing and communication limitations between agents make…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…