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Linear consensus iterations guarantee asymptotic convergence, thereby, limiting their applicability in applications where consensus value needs to be used in real time to perform a system level task. It also leads to wastage of power and…

This paper studies an optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, the consensus point is further required to an optimal solution to some…

Predicting the motion of multiple agents is necessary for planning in dynamic environments. This task is challenging for autonomous driving since agents (e.g. vehicles and pedestrians) and their associated behaviors may be diverse and…

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…

Individual choices are either based on personal experience or on information provided by peers. The latter case, causes individuals to conform to the majority in their neighborhood. Such herding behavior may be very efficient in aggregating…

This paper concerns the consensus and formation of a network of mobile autonomous agents in adversarial settings where a group of malicious (compromised) agents are subject to deception attacks. In addition, the communication network is…

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)…

Distributed, parallel crowd workers can accomplish simple tasks through workflows, but teams of collaborating crowd workers are necessary for complex goals. Unfortunately, a fundamental condition for effective teams - familiarity with other…

We introduce a model of interacting random walkers on a finite one dimensional chain with absorbing boundaries or targets at the ends. Walkers are of two types: informed particles that move ballistically towards a given target, and…

This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to achieve consensus. We investigate the distributed adaptive…

For the task of moving a group of indistinguishable agents on a connected graph with unit edge lengths into an arbitrary goal formation, it was previously shown that distance optimal paths can be scheduled to complete with a tight…

In complex multi-agent systems involving heterogeneous teams, uncertainty arises from numerous sources like environmental disturbances, model inaccuracies, and changing tasks. This causes planned trajectories to become infeasible, requiring…

We study intersection access control for autonomous vehicles. Platoon forming algorithms, which aim to organize individual vehicles in platoons, are very promising. To create those platoons, we slow down vehicles before the actual arrival…

Motion planners take uncertain information about the environment as an input. The environment information is often quite noisy and has a tendency to contain false positive object detection. State-of-the-art motion planners consider all…

A variety of problems in distributed control involve a networked system of autonomous agents cooperating to carry out some complex task in a decentralized fashion, e.g., orienting a flock of drones, or aggregating data from a network of…

Modeling crowds has many important applications in games and computer animation. Inspired by the emergent following effect in real-life crowd scenarios, in this work, we develop a method for implicitly grouping moving agents. We achieve…

Guidance is an emerging concept that improves the empirical performance of real-time, sub-optimal multi-agent pathfinding (MAPF) methods. It offers additional information to MAPF algorithms to mitigate congestion on a global scale by…

We consider several variants of a car-sharing problem. Given are a number of requests each consisting of a pick-up location and a drop-off location, a number of cars, and nonnegative, symmetric travel times that satisfy the triangle…

In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…

We consider the problem of designing agents able to compute optimal decisions by composing data from multiple sources to tackle tasks involving: (i) tracking a desired behavior while minimizing an agent-specific cost; (ii) satisfying safety…