相关论文: Controller Synthesis for Multi-Agent Systems with …

This paper formalises the literature on emerging design patterns and paradigms for Large Language Model (LLM)-enabled multi-agent systems (MAS), evaluating their practical utility across various domains. We define key architectural…

This paper presents a comprehensive framework for modeling and verifying multi-agent systems. The paper introduce an Epistemic Process Calculus for multi-agent systems, which formalizes the syntax and semantics to capture the essential…

Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…

The distributed coordination problem of multi-agent systems is addressed in this paper under the assumption of intermittent communication between agents in the presence of time-varying communication delays. Specifically, we consider the…

This paper investigates the planning and control problems for multi-robot systems under linear temporal logic (LTL) specifications. In contrast to most of existing literature, which presumes a static and known environment, our study focuses…

Consensusability of multi-agent systems (MASs) certifies the existence of a distributed controller capable of driving the states of each subsystem to a consensus value. We study the consensusability of linear interconnected MASs (LIMASs)…

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…

This article considers robust cooperative output regulation of discrete-time uncertain heterogeneous (in dimension) multi-agent systems (MASs). We show that the solvability of this problem with an internal model-based distributed control…

Complex, non-linear tasks challenge LLM-enhanced multi-agent systems (MAS) due to partial observability and suboptimal coordination. We propose Orchestrator, a novel MAS framework that leverages attention-inspired self-emergent coordination…

The design and application of multi-agent systems (MAS) require reasoning about the effects of modifications on their underlying structure. In particular, such changes may impact the satisfaction of system specifications and the strategic…

We address the problem of synthesizing reactive controllers for cyber-physical systems subject to Signal Temporal Logic (STL) specifications in the presence of adversarial inputs. Given a finite horizon, we define a reactive hierarchy of…

Single-agent systems (SAS) have become the default pattern for LLM-driven scientific workflows, but routing planning, tool use, and synthesis through a single context window comes with a well-known cost: as tool specifications and…

In this paper, we address the problem of prescribed-time leader-following consensus of heterogeneous multi-agent systems (MASs) in the presence of unknown sensor sensitivity. Under a connected undirected topology, we propose a time-varying…

This paper presents control strategies based on time-varying convergent higher order control barrier functions for a class of leader-follower multi-agent systems under signal temporal logic (STL) tasks. Each agent is assigned a local STL…

We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…

We study the distributed synthesis of policies for multi-agent systems to perform \emph{spatial-temporal} tasks. We formalize the synthesis problem as a \emph{factored} Markov decision process subject to \emph{graph temporal logic}…

Networked control systems (NCS) are widely used in safety-critical applications, but they are often analyzed under the assumption of ideal communication channels. This work focuses on the synthesis of safety controllers for discrete-time…

A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…

In this paper, scalable controller design to achieve output synchronization for a heterogeneous discrete-time nonlinear multi-agent system is considered. The agents are assumed to exhibit potentially nonlinear dynamics but share linear…

This study considers the problem of periodic event-triggered (PET) cooperative output regulation for a class of linear multi-agent systems. The advantage of the PET output regulation is that the data transmission and triggered condition are…