相关论文: Learning Safe Control for Multi-Robot Systems: Met…

Multi-Agent Reinforcement Learning (MARL) has gained significant traction for solving complex real-world tasks, but the inherent stochasticity and uncertainty in these environments pose substantial challenges to efficient and robust policy…

Multi-agent coordination studies the underlying mechanism enabling the trending spread of diverse multi-agent systems (MAS) and has received increasing attention, driven by the expansion of emerging applications and rapid AI advances. This…

With recent advances in Large Language Models (LLMs), Agentic AI has become phenomenal in real-world applications, moving toward multiple LLM-based agents to perceive, learn, reason, and act collaboratively. These LLM-based Multi-Agent…

While Machine Learning (ML) technologies are widely adopted in many mission critical fields to support intelligent decision-making, concerns remain about system resilience against ML-specific security attacks and privacy breaches as well as…

Robotic systems are becoming pervasive and adopted in increasingly many domains, such as manufacturing, healthcare, and space exploration. To this end, engineering software has emerged as a crucial discipline for building maintainable and…

The multi-agent system (MAS) enables the sharing of capabilities among agents, such that collaborative tasks can be accomplished with high scalability and efficiency. MAS is increasingly widely applied in various fields. Meanwhile, the…

Large-Scale Multi-Agent Systems (LS-MAS) consist of several autonomous components, interacting in a non-trivial way, so that the emerging behaviour of the ensemble depends on the individual dynamics of the components and their reciprocal…

Animals and robots exist in a physical world and must coordinate their bodies to achieve behavioral objectives. With recent developments in deep reinforcement learning, it is now possible for scientists and engineers to obtain sensorimotor…

Control tasks with safety requirements under high levels of model uncertainty are increasingly common. Machine learning techniques are frequently used to address such tasks, typically by leveraging model error bounds to specify robust…

The use of mobile robots is being popular over the world mainly for autonomous explorations in hazardous/ toxic or unknown environments. This exploration will be more effective and efficient if the explorations in unknown environment can be…

Multi-agent safe systems have become an increasingly important area of study as we can now easily have multiple AI-powered systems operating together. In such settings, we need to ensure the safety of not only each individual agent, but…

This paper proposes a reliable learning-based adaptive control framework for nonlinear multi-agent systems (MASs) subject to Denial-of-Service (DoS) attacks and singular control gains, two critical challenges in cyber-physical systems. A…

We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle…

Simulating hostile attacks of physical autonomous systems can be a useful tool to examine their robustness to attack and inform vulnerability-aware design. In this work, we examine this through the lens of multi-robot patrol, by presenting…

The increasing use of Machine Learning (ML) components embedded in autonomous systems -- so-called Learning-Enabled Systems (LESs) -- has resulted in the pressing need to assure their functional safety. As for traditional functional safety,…

With the increasing prevalence of complex vision-based sensing methods for use in obstacle identification and state estimation, characterizing environment-dependent measurement errors has become a difficult and essential part of modern…

With the continuous breakthroughs in core technology, the dawn of large-scale integration of robotic systems into daily human life is on the horizon. Multi-robot systems (MRS) built on this foundation are undergoing drastic evolution. The…

Deep reinforcement learning (RL) has recently shown great promise in robotic continuous control tasks. Nevertheless, prior research in this vein center around the centralized learning setting that largely relies on the communication…

Mobile autonomous system (MAS) becomes pervasive especially in the vehicular and robotic networks. Multiple heterogeneous MAS networks can be integrated together as a multi-layer MAS network to offer holistic services. The network…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…