相关论文: Layered controller synthesis for dynamic multi-age…

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 infinite horizon dynamic programming problems, where the control at each stage consists of several distinct decisions, each one made by one of several agents. In an earlier work we introduced a policy iteration algorithm, where…

We present a framework combining hierarchical and multi-agent deep reinforcement learning approaches to solve coordination problems among a multitude of agents using a semi-decentralized model. The framework extends the multi-agent learning…

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…

Despite longstanding interest, controller synthesis remains challenging for networks of heterogeneous, nonlinear agents. Moreover, the requirements for computational scalability and information privacy have become increasingly critical.…

We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus on piecewise constant control strategies. Our algorithm…

Event-triggered communication and control provide high control performance in networked control systems without overloading the communication network. However, most approaches require precise mathematical models of the system dynamics,…

Bolstering multi-agent learning algorithms to tackle complex coordination and control tasks has been a long-standing challenge of on-going research. Numerous methods have been proposed to help reduce the effects of non-stationarity and…

We study the multi-agent safe control problem where agents should avoid collisions to static obstacles and collisions with each other while reaching their goals. Our core idea is to learn the multi-agent control policy jointly with learning…

AI agents are increasingly used to solve complex, multi-step tasks, but existing multi-agent frameworks remain brittle as workflows grow in scale and depth. Small errors at intermediate stages can propagate through agent interactions, while…

A graph theoretic framework recently has been proposed to stabilize interconnected multiagent systems in a distributed fashion, while systematically capturing the architectural aspect of cyber-physical systems with separate agent or…

We consider the problem of distributing a control policy across a network of interconnected units. Distributing controllers in this way has a number of potential advantages, especially in terms of robustness, as the failure of a single unit…

Large Language Models (LLMs) have demonstrated the ability to solve a wide range of practical tasks within multi-agent systems. However, existing human-designed multi-agent frameworks are typically limited to a small set of pre-defined…

This paper addresses the multi-agent control problem under global temporal logic tasks, considering agents with heterogeneous capabilities. These global tasks involve not only absolute and relative temporal and spatial constraints, but also…

Strategic classification studies the problem where self-interested individuals or agents manipulate their response to obtain favorable decision outcomes made by classifiers, typically turning to dishonest actions when they are less costly…

Multi-agent systems based on large language models, particularly centralized architectures, have recently shown strong potential for complex and knowledge-intensive tasks. However, central agents often suffer from unstable long-horizon…

Deep learning has enabled traditional reinforcement learning methods to deal with high-dimensional problems. However, one of the disadvantages of deep reinforcement learning methods is the limited exploration capacity of learning agents. In…

We propose a method that enables large language models (LLMs) to control embodied agents through the generation of control policies that directly map continuous observation vectors to continuous action vectors. At the outset, the LLMs…

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 article proposes a methodology to model and simulate complex systems, based on IRM4MLS, a generic agent-based meta-model able to deal with multi-level systems. This methodology permits the engineering of dynamic multi-level agent-based…