相关论文: A Local Information Aggregation based Multi-Agent …

Effective operation and seamless cooperation of robotic systems are a fundamental component of next-generation technologies and applications. In contexts such as disaster response, swarm operations require coordinated behavior and mobility…

We propose a decentralized, learning-based framework for dynamic coalition formation in Multi-Robot Task Allocation (MRTA). Our approach extends MAPPO by integrating spatial action maps, robot motion planning, intention sharing, and task…

In collective systems, the available agents are a limited resource that must be allocated among tasks to maximize collective performance. Computing the optimal allocation of several agents to numerous tasks through a brute-force approach…

This paper presents a data-driven approach for multi-robot coordination in partially-observable domains based on Decentralized Partially Observable Markov Decision Processes (Dec-POMDPs) and macro-actions (MAs). Dec-POMDPs provide a general…

Efficient task scheduling in large-scale distributed systems presents significant challenges due to dynamic workloads, heterogeneous resources, and competing quality-of-service requirements. Traditional centralized approaches face…

Autonomous marine environmental monitoring problem traditionally encompasses an area coverage problem which can only be effectively carried out by a multi-robot system. In this paper, we focus on robotic swarms that are typically operated…

This note presents an analytical framework for decision-making in drone swarm systems operating under uncertainty, based on the integration of Partially Observable Markov Decision Processes (POMDP) with Deep Deterministic Policy Gradient…

A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…

This paper proposes a novel highly scalable non-myopic planning algorithm for multi-robot Active Information Acquisition (AIA) tasks. AIA scenarios include target localization and tracking, active SLAM, surveillance, environmental…

The state-of-the-art multi-agent reinforcement learning (MARL) methods have provided promising solutions to a variety of complex problems. Yet, these methods all assume that agents perform synchronized primitive-action executions so that…

Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized…

This paper addresses the problem of autonomous task allocation by a swarm of autonomous, interactive drones in large-scale, dynamic spatio-temporal environments. When each drone independently determines navigation, sensing, and recharging…

We present a fully decentralized routing framework for multi-robot exploration missions operating under the constraints of a Lunar Delay-Tolerant Network (LDTN). In this setting, autonomous rovers must relay collected data to a lander under…

Large Language Models (LLMs) perform well in language tasks but often lack collaborative awareness and struggle to optimize global performance in multi-agent settings. We present a reinforcement learning-augmented LLM agent framework that…

This paper addresses the challenge of allocating heterogeneous resources among multiple agents in a decentralized manner. Our proposed method, Liquid-Graph-Time Clustering-IPPO, builds upon Independent Proximal Policy Optimization (IPPO) by…

We address the challenge of coordinating multiple robots in narrow and confined environments, where congestion and interference often hinder collective task performance. Drawing inspiration from insect colonies, which achieve robust…

In this paper, we design algorithms to protect swarm-robotics applications against sensor denial-of-service (DoS) attacks on robots. We focus on applications requiring the robots to jointly select actions, e.g., which trajectory to follow,…

We present a novel reinforcement learning (RL) based task allocation and decentralized navigation algorithm for mobile robots in warehouse environments. Our approach is designed for scenarios in which multiple robots are used to perform…

Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…

The recent advancement of Deep Reinforcement Learning (DRL) contributed to robotics by allowing automatic controller design. The automatic controller design is a crucial approach for designing swarm robotic systems, which require more…