相关论文: Synchronization on Lie Groups: Coordination of Bli…
Symmetry in differential equations reveals invariances and offers a powerful means to reduce model complexity. Lie group analysis characterizes these symmetries through infinitesimal generators, which provide a local, linear criterion for…
In this paper, we consider the partial gathering problem of mobile agents in asynchronous unidirectional rings equipped with whiteboards on nodes. The partial gathering problem is a new generalization of the total gathering problem. The…
In this paper, we address the output synchronization of heterogeneous linear networks. In the literature, all agents are typically required to synchronize exactly to a common trajectory. Here, we introduce optimal stationary synchronization…
For linear networks, where the coupling between the agents takes place through periodic impulses, a simple method is proposed for synchronization. It is shown that closing the loop by (normalized) deadbeat feedback gain produces synchronous…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
Multi-agent systems can be extremely efficient when solving a team-wide task in a concurrent manner. However, without proper synchronization, the correctness of the combined behavior is hard to guarantee, such as to follow a specific…
We analyze the effect of synchronization on distributed stochastic gradient algorithms. By exploiting an analogy with dynamical models of biological quorum sensing - where synchronization between agents is induced through communication with…
Multi-agent systems cooperation to achieve global goals is usually limited by sensing, actuation, and communication issues. At the local level, continuous measurement and actuation is only approximated by the use of digital mechanisms that…
We present an adaptive algorithm that guarantees synchronization in diffusively coupled systems. We first consider compartmental systems of ODEs, where each compartment represents a spatial domain of components interconnected through…
In this work we study a multi-agent coordination problem in which agents are only able to communicate with each other intermittently through a cloud server. To reduce the amount of required communication, we develop a self-triggered…
Multi-agent reinforcement learning has emerged as a powerful framework for enabling agents to learn complex, coordinated behaviors but faces persistent challenges regarding its generalization, scalability and sample efficiency. Recent…
This paper studies regulated state synchronization of homogeneous networks of non-introspective agents in presence of unknown nonuniform input delays. A scale-free protocol is designed based on additional information exchange, which does…
This paper considers the problem of adaptively searching for an unknown target using multiple agents connected through a time-varying network topology. Agents are equipped with sensors capable of fast information processing, and we propose…
This paper focus on investigating the distributed Riemannian stochastic optimization problem on the Stiefel manifold for multi-agent systems, where all the agents work collaboratively to optimize a function modeled by the average of their…
Extremum seeking systems are powerful methods able to steer the input of a (dynamical) cost function towards an optimizer, without any prior knowledge of the cost function. To achieve their objective, they typically combine time-periodic…
As multi-agent networks grow in size and scale, they become increasingly difficult to synchronize, though agents must work together even when generating and sharing different information at different times. Targeting such cases, this paper…
In collaborative tasks, autonomous agents fall short of humans in their capability to quickly adapt to new and unfamiliar teammates. We posit that a limiting factor for zero-shot coordination is the lack of shared task abstractions, a…
Group synchronization requires to estimate unknown elements $({\theta}_v)_{v\in V}$ of a compact group ${\mathfrak G}$ associated to the vertices of a graph $G=(V,E)$, using noisy observations of the group differences associated to the…
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…
A consistent spatial-temporal coordination across multiple agents is fundamental for collaborative perception, which seeks to improve perception abilities through information exchange among agents. To achieve this spatial-temporal…