相关论文: Comparison of Centralized and Decentralized Approa…

We develop a hybrid system model to describe the behavior of multiple agents cooperatively solving an optimal coverage problem under energy depletion and repletion constraints. The model captures the controlled switching of agents between…

This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information.…

This paper addresses the fundamental problem of non-uniform area coverage in multi-agent systems, where different regions require varying levels of attention due to mission-dependent priorities. Existing uniform coverage strategies are…

We study distributed optimization in a cooperative multi-agent setting, where agents have to agree on the usage of shared resources and can communicate via a time-varying network to this purpose. Each agent has its own decision variables…

This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…

The multi-agent spatial coverage control problem encompasses a broad research domain, dealing with both dynamic and static deployment strategies, discrete-task assignments, and spatial distribution-matching deployment. Coverage control may…

We consider a multi-agent reinforcement learning problem where each agent seeks to maximize a shared reward while interacting with other agents, and they may or may not be able to communicate. Typically the agents do not have access to…

This paper introduces a novel approach to solve the coverage optimization problem in multi-agent systems. The proposed technique offers an optimal solution with a lower cost with respect to conventional Voronoi-based techniques by…

We propose a multi-agent system that enables groups of agents to collaborate and work autonomously to execute tasks. Groups can work in a decentralized manner and can adapt to dynamic changes in the environment. Groups of agents solve…

This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…

This paper studies the problem of decentralized continuum deformation coordination of multi-agent systems aided by cooperative localization. We treat agents as particles inside a triangular continuum (deformable body) in a2-D motion space…

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…

Most solutions to the inventory management problem assume a centralization of information that is incompatible with organisational constraints in real supply chain networks. The inventory management problem is a well-known planning problem…

The problem of coverage control, i.e., of coordinating multiple agents to optimally cover an area, arises in various applications. However, coverage applications face two major challenges: (1) dealing with nonlinear dynamics while…

In this paper, we propose an approach for solving an energy-optimal goal assignment problem to generate the desired formation in multi-agent systems. Each agent solves a decentralized optimization problem with only local information about…

Multi-agent planning in stochastic environments can be framed formally as a decentralized Markov decision problem. Many real-life distributed problems that arise in manufacturing, multi-robot coordination and information gathering scenarios…

Cooperative multi-agent reinforcement learning is a powerful tool to solve many real-world cooperative tasks, but restrictions of real-world applications may require training the agents in a fully decentralized manner. Due to the lack of…

It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…

In this paper a decentralized control algorithm for systems composed of $N$ dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into $N$ optimal control sub-problems and a…

Plug-in electric vehicles (PEVs) are considered as flexible loads since their charging schedules can be shifted over the course of a day without impacting drivers mobility. This property can be exploited to reduce charging costs and adverse…