相关论文: Optimization Based Collision Avoidance for Multi-A…
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…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
This work proposes multi-agent systems setting for concurrent engineering system design optimization and gradually paves the way towards examining graph theoretic constructs in the context of multidisciplinary design optimization problem.…
In this paper, we study cooperative multi-agent systems in which the target objective and the controls exercised by the agents are dependent on the choices they made at initial system time. Such systems have been investigated in several…
Multi-agent distributed optimization over a network minimizes a global objective formed by a sum of local convex functions using only local computation and communication. We develop and analyze a quantized distributed algorithm based on the…
Finite-time motion planning with collision avoidance is a challenging issue in multi-agent systems. This paper proposes a novel distributed controller based on a new Lyapunov barrier function which guarantees finite-time stability for…
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…
We consider a probabilistic model for large-scale task allocation problems for multi-agent systems, aiming to determine an optimal deployment strategy that minimizes the overall transport cost. Specifically, we assign transportation agents…
Missions for autonomous systems often require agents to visit multiple targets in complex operating conditions. This work considers the problem of visiting a set of targets in minimum time by a team of non-communicating agents in a Markov…
In this paper, a distributed optimal steady-state regulation problem is formulated and investigated for heterogeneous linear multi-agent systems subject to external disturbances. We aim to steer this high-order multi-agent network to a…
Scientists often search for phenomena of interest while exploring new environments. Autonomous vehicles are deployed to explore such areas where human-operated vehicles would be costly or dangerous. Online control of autonomous vehicles for…
We consider the problem of controlling the movement of multiple cooperating agents so as to minimize an uncertainty metric associated with a finite number of targets. In a one-dimensional mission space, we adopt an optimal control framework…
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
In this paper, a novel and innovative methodology for feasible motion planning in the multi-agent system is developed. On the basis of velocity obstacles characteristics, the chance constraints are formulated in the receding horizon control…
We address the problem of planning collision-free paths for multiple agents using optimization methods known as proximal algorithms. Recently this approach was explored in Bento et al. 2013, which demonstrated its ease of parallelization…
Many practical applications of optimal control are subject to real-time computational constraints. When applying model predictive control (MPC) in these settings, respecting timing constraints is achieved by limiting the number of…
In this paper, we present a distributed algorithm utilizing the proximal alternating direction method of multipliers (ADMM) in conjunction with sequential constraint tightening to address mixed-integer quadratic programming (MIQP) problems…
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…
We consider stochastic model predictive control of a multi-agent systems with constraints on the probabilities of inter-agent collisions. We first study a sample-based approximation of the collision probabilities and use this approximation…