相关论文: Cooperative Target Defense under Communication and…

In this paper the problem of driving the state of a network of identical agents, modeled by boundary-controlled heat equations, towards a common steady-state profile is addressed. Decentralized consensus protocols are proposed to address…

In this paper, we study the problem of jointly retrieving the state of a dynamical system, as well as the state of the sensors deployed to estimate it. We assume that the sensors possess a simple computational unit that is capable of…

A central problem of surveillance is to monitor multiple targets moving in a large-scale, obstacle-ridden environment with occlusions. This paper presents a novel principled Partially Observable Markov Decision Process-based approach to…

The multi-objective coverage control problem requires a robot swarm to collaboratively provide sensor coverage to multiple heterogeneous importance density fields IDFs simultaneously. We pose this as an optimization problem with constraints…

A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…

Popular methods in cooperative Multi-Agent Reinforcement Learning with partially observable environments typically allow agents to act independently during execution, which may limit the coordinated effect of the trained policies. However,…

In large-scale Internet of things networks, efficient medium access control (MAC) is critical due to the growing number of devices competing for limited communication resources. In this work, we consider a new challenge in which a set of…

This paper studies the real-time implementation of distributed controllers on networked cyber-physical systems. We build on the strengths of event- and self-triggered control to synthesize a unified approach, termed team-triggered, where…

This paper studies a defense approach against one or more swarms of adversarial agents. In our earlier work, we employ a closed formation (`StringNet') of defending agents (defenders) around a swarm of adversarial agents (attackers) to…

This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed…

Decentralized control of cooperative systems captures the operation of a group of decision makers that share a single global objective. The difficulty in solving optimally such problems arises when the agents lack full observability of the…

In this article, the observer-based coordinated tracking control problem for a class of nonlinear multi-agent systems(MASs) with intermittent communication and information constraints is studied under dynamic switching topology. First, a…

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…

We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures.…

A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using…

This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…

In this paper, we study multi-agent consensus problems under Denial-of-Service (DoS) attacks with data rate constraints. We first consider the leaderless consensus problem and after that we briefly present the analysis of leader-follower…

Almost all multi-agent reinforcement learning algorithms without communication follow the principle of centralized training with decentralized execution. During centralized training, agents can be guided by the same signals, such as the…

Patrolling is one of the central problems in operational security. Formally, a patrolling problem is specified by a set $U$ of nodes (admissible defender's positions), a set $T \subseteq U$ of vulnerable targets, an admissible defender's…

We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the…