相关论文: Near-Optimal Multi-Agent Learning for Safe Coverag…
This paper provides a solution to the problem of safe region formation control with reference velocity tracking for a second-order multi-agent system without velocity measurements. Safe region formation control is a control problem where…
A law in a multiagent system is a set of constraints imposed on agents' behaviours to avoid undesirable outcomes. The paper considers two types of laws: useful laws that, if followed, completely eliminate the undesirable outcomes and…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
Constrained submodular set function maximization problems often appear in multi-agent decision-making problems with a discrete feasible set. A prominent example is the problem of multi-agent mobile sensor placement over a discrete domain.…
In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile…
One effective way to optimize the offloading process is by minimizing the transmission time. This is particularly true in a Vehicular Adhoc Network (VANET) where vehicles frequently download and upload High-definition (HD) map data which…
We investigate two new optimization problems -- minimizing a submodular function subject to a submodular lower bound constraint (submodular cover) and maximizing a submodular function subject to a submodular upper bound constraint…
In this work we consider the multi-agent motion planning (MAMP) problem with the constraint that agents arrive at their respective goals at the same time. For the special case where all agents are initially at rest we propose a two-step…
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…
Exploration in unknown environments is a fundamental problem in reinforcement learning and control. In this work, we study task-guided exploration and determine what precisely an agent must learn about their environment in order to complete…
This work considers multiple agents traversing a network from a source node to the goal node. The cost to an agent for traveling a link has a private as well as a congestion component. The agent's objective is to find a path to the goal…
Recent advances in robotics have paved the way for robots to replace humans in perilous situations, such as searching for victims in burning buildings, in earthquake-damaged structures, in uncharted caves, traversing minefields or…
Safe Multi-agent reinforcement learning (safe MARL) has increasingly gained attention in recent years, emphasizing the need for agents to not only optimize the global return but also adhere to safety requirements through behavioral…
We study the computational complexity of multi-agent path finding (MAPF). Given a graph $G$ and a set of agents, each having a start and target vertex, the goal is to find collision-free paths minimizing the total distance traveled. To…
Coverage path planning in a generic known environment is shown to be NP-hard. When the environment is unknown, it becomes more challenging as the robot is required to rely on its online map information built during coverage for planning its…
The paper focuses on mean-field type multi-agent control problems with finite state and action spaces where the dynamics and cost structures are symmetric and homogeneous, and are affected by the distribution of the agents. A standard…
We consider the incomplete multi-graph matching problem, which is a generalization of the NP-hard quadratic assignment problem for matching multiple finite sets. Multi-graph matching plays a central role in computer vision, e.g., for…
In open multi-agent environments, the agents may encounter unexpected teammates. Classical multi-agent learning approaches train agents that can only coordinate with seen teammates. Recent studies attempted to generate diverse teammates to…
Co-optimizing safety and performance in large-scale multi-agent systems remains a fundamental challenge. Existing approaches based on multi-agent reinforcement learning (MARL), safety filtering, or Model Predictive Control (MPC) either lack…
In the classic maximum coverage problem, we are given subsets $T_1, \dots, T_m$ of a universe $[n]$ along with an integer $k$ and the objective is to find a subset $S \subseteq [m]$ of size $k$ that maximizes $C(S) := |\cup_{i \in S} T_i|$.…