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A desirable goal for autonomous agents is to be able to coordinate on the fly with previously unknown teammates. Known as "ad hoc teamwork", enabling such a capability has been receiving increasing attention in the research community. One…

This paper studies the distributed mode consensus problem in a multi-agent system, in which the agents each possess a certain attribute and they aim to agree upon the mode (the most frequent attribute owned by the agents) via distributed…

This paper considers the complex problem of a team of UAVs searching targets under uncertainty. The goal of the UAV team is to find all of the moving targets as quickly as possible before they arrive at their selected goal. The uncertainty…

We present Multi-Agent gatekeeper, a framework that provides provable safety guarantees for leader-follower formation control in cluttered 3D environments. Existing methods face a trad-off: online planners and controllers lack formal safety…

We consider a repulsion actuator located in an $n$-sided convex environment full of point particles. When the actuator is activated, all the particles move away from the actuator. We study the problem of gathering all the particles to a…

Motivated by targeted drug delivery, we investigate the gathering of particles in the full tilt model of externally controlled motion planning: A set of particles is located at the tiles of a polyomino with all particles reacting uniformly…

This paper studies a central planner's decision making on behalf of a group of members with diverse discount rates. In the context of optimal stopping, we work with an aggregation preference to incorporate all discount rates via an attitude…

We study an information design problem for a non-atomic service scheduling game. The service starts at a random time and there is a continuum of agent population who have a prior belief about the service start time but do not observe the…

We introduce a simple benchmark model of dynamic matching in networked markets, where agents arrive and depart stochastically and the network of acceptable transactions among agents forms a random graph. We analyze our model from three…

Given a collection of red and blue mobile agents located on two grid rows, we seek to move all the blue agents to the far left side and all the red agents to the far right side, thus \textit{physically sorting} them according to color. The…

This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…

This work addresses the gathering problem for a set of autonomous, anonymous, and homogeneous robots with limited visibility operating in a continuous circle. The robots are initially placed at distinct positions, forming a rotationally…

The problem of navigating a formation of interconnected tethered drones, named STEM (System of TEthered Multicopters), in an unknown environment is considered. The tethers feed electrical power from a ground station to the drones and also…

In this paper, robust finite-time consensus of a group of nonlinear multi-agent systems in the presence of communication time delays is considered. In particular, appropriate delay-dependent strategies which are less conservative are…

Drivers offering spare seats in their vehicles on long-distance (interurban) trips often have to pick up or drop off passengers in cities en route. In that case it is necessary to agree on a meeting point. Often, this is done by proposing…

This paper develops and compares two motion planning algorithms for a tethered UAV with and without the possibility of the tether contacting the confined and cluttered environment. Tethered aerial vehicles have been studied due to their…

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…

The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…

We consider evacuation of a group of $n \geq 2$ autonomous mobile agents (or robots) from an unknown exit on an infinite line. The agents are initially placed at the origin of the line and can move with any speed up to the maximum speed $1$…

This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…