相关论文: Layered controller synthesis for dynamic multi-age…
A complex system is made up of many components with many interactions. So the design of systems such as simulation systems, cooperative systems or assistance systems includes a very accurate modelling of interactional and communicational…
We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently over an infinite horizon. Motivated by the limited approaches…
A major challenge faced in the design of large-scale cyber-physical systems, such as power systems, the Internet of Things or intelligent transportation systems, is that traditional distributed optimal control methods do not scale…
We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…
This paper introduces a novel data-driven hierarchical control scheme for managing a fleet of nonlinear, capacity-constrained autonomous agents in an iterative environment. We propose a control framework consisting of a high-level dynamic…
In multi-agent systems, signal temporal logic (STL) is widely used for path planning to accomplish complex objectives with formal safety guarantees. However, as the number of agents increases, existing approaches encounter significant…
The System Level Synthesis (SLS) approach facilitates distributed control of large cyberphysical networks in an easy-to-understand, computationally scalable way. We present an overview of the SLS approach and its associated extensions in…
We address the problem of model-free distributed stabilization of heterogeneous multi-agent systems using reinforcement learning (RL). Two algorithms are developed. The first algorithm solves a centralized linear quadratic regulator (LQR)…
This paper presents novel solutions of the data-based synchronization problem for continuous-time multiagent systems. We consider the cases of homogeneous and heterogeneous systems. First, we obtain a data-based representation of the…
In this paper we study multi-agent discrete-event systems where the agents can be divided into several groups, and within each group the agents have similar or identical state transition structures. We employ a relabeling map to generate a…
We propose a framework for solving control synthesis problems for multi-agent networked systems required to satisfy spatio-temporal specifications. We use Spatio-Temporal Reach and Escape Logic (STREL) as a specification language. For this…
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}…
This paper presents a novel control strategy for the coordination of a multi-agent system subject to high-level goals expressed as linear temporal logic formulas. In particular, each agent, which is modeled as a sphere with 2nd order…
In this article, we propose a centralized Multi-Agent Learning framework for learning a policy that models the simultaneous behavior of multiple agents that need to coordinate to solve a certain task. Centralized approaches often suffer…
We study the problem of synthesizing strategies for a mobile sensor network to conduct surveillance in partnership with static alarm triggers. We formulate the problem as a multi-agent reactive synthesis problem with surveillance objectives…
Large sequence model (SM) such as GPT series and BERT has displayed outstanding performance and generalization capabilities on vision, language, and recently reinforcement learning tasks. A natural follow-up question is how to abstract…
This study presents the LLM-Agent-Controller, a multi-agent large language model (LLM) system developed to address a wide range of problems in control engineering (Control Theory). The system integrates a central controller agent with…
System level synthesis is a promising approach that formulates structured optimal controller synthesis problems as convex problems. This work solves the distributed linear-quadratic regulator problem under communication constraints directly…
Layered control architectures have been a standard paradigm for efficiently managing complex constrained systems. A typical architecture consists of: i) a higher layer, where a low-frequency planner controls a simple model of the system,…
In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built…