相关论文: Synchronization on Lie Groups: Coordination of Bli…
Group synchronization is the problem of determining reliable global estimates from noisy local measurements on networks. The typical task for group synchronization is to assign elements of a group to the nodes of a graph in a way that…
The deadbeat synchronization of identical discrete-time nonlinear systems is studied from a geometric point of view. An array of deadbeat observers coupled via a deadbeat interconnection is shown to achieve synchronization in finite number…
With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…
Generalized from the concept of consensus, this paper considers a group of edge agreements, i.e. constraints defined for neighboring agents, in which each pair of neighboring agents is required to satisfy one edge agreement constraint. Edge…
We consider the problem of solving a smooth convex optimization problem with equality and inequality constraints in a distributed fashion. Assuming that we have a group of agents available capable of communicating over a communication…
This paper introduces an approach to address the target enclosing problem using non-holonomic multiagent systems, where agents self-organize on the enclosing shape around a fixed target. In our approach, agents independently move toward the…
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…
This paper presents a novel framework which combines a non-iterative solution of Real-Time Nonlinear Receding Horizon Control (NRHC) methodology to achieve consensus within complex network topologies with existing time-delays and in…
The emergence of large language models (LLMs) enables the development of intelligent agents capable of engaging in complex and multi-turn dialogues. However, multi-agent collaboration faces critical safety challenges, such as hallucination…
The current paper addresses the distributed guaranteed-cost synchronization problems for general high-order linear multiagent networks. Existing works on the guaranteed-cost synchronization usually require all state information of…
The distributed optimal synchronization problem with linear quadratic cost is solved in this paper for multi-agent systems with an undirected communication topology. For the first time, the optimal synchronization problem is formulated as a…
Recent studies highlight the effectiveness of flat minima in enhancing generalization, with sharpness-aware minimization (SAM) achieving state-of-the-art performance. Additionally, insights into the intrinsic geometry of the loss landscape…
We present a model for controlling swarms of mobile agents via broadcast control, assumed to be detected by a random set of agents in the swarm. The agents that detect the control signal become ad-hoc leaders of the swarm. The agents are…
This paper brings cooperative protocols for multi-agent systems with agents having a finite state-space. Both scalar single-integrator consensus and general LTI systems synchronization are considered. Systems having a finite state-space…
We consider a group of computation units trying to cooperatively solve a distributed optimization problem with shared linear equality and inequality constraints. Assuming that the computation units are communicating over a network whose…
The angular synchronization problem aims to accurately estimate (up to a constant additive phase) a set of unknown angles $\theta_1, \dots, \theta_n\in[0, 2\pi)$ from $m$ noisy measurements of their offsets $\theta_i-\theta_j \;\mbox{mod}…
Full parameter sharing is standard in cooperative multi-agent reinforcement learning (MARL) for homogeneous agents. Under permutation-symmetric observations, however, a shared deterministic policy outputs identical action distributions for…
When are multi-agent LLM systems merely a collection of individual agents versus an integrated collective with higher-order structure? We introduce an information-theoretic framework to test -- in a purely data-driven way -- whether…
In this work, we study an optimal control problem for a multi-agent system modeled by an undirected formation graph with nodes describing the kinematics of each agent, given by a left-invariant control system on a Lie group. The agents…
This report surveys results on distributed systems comprising mobile agents that are identical and anonymous, oblivious and interact solely by adjusting their motion according to the relative location of their neighbours. The agents are…