相关论文: Cooperative Target Defense under Communication and…
The problem under consideration is the synthesis of a distributed controller for a nonlinear network composed of input affine systems. The objective is to achieve exponential convergence of the solutions. To design such a feedback law,…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
We present a model for layered security with applications to the protection of sites such as stadiums or large gathering places. We formulate the problem as one of maximizing the capture of illegal contraband. The objective function is…
Learning in games has been widely used to solve many cooperative multi-agent problems such as coverage control, consensus, self-reconfiguration or vehicle-target assignment. One standard approach in this domain is to formulate the problem…
The problem of goal-oriented semantic filtering and timely source coding in multiuser communication systems is considered here. We study a distributed monitoring system in which multiple information sources, each observing a physical…
This paper studies a consensus problem of multi-agent systems subjected to external disturbances over the clustered network. It considers that the agents are divided into several clusters. They are almost all the time isolated one from…
Decentralized collision avoidance remains challenging, particularly when agents do not communicate any information related to planned trajectories. Most existing approaches either rely on conservative coordination mechanisms or provide…
Multiple robots could perceive a scene (e.g., detect objects) collaboratively better than individuals, although easily suffer from adversarial attacks when using deep learning. This could be addressed by the adversarial defense, but its…
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…
In this article, we consider a cooperative control problem involving a heterogeneous network of dynamically decoupled continuous-time linear plants. The (output-feedback) controllers for each plant may communicate with each other according…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…
In this paper, we propose a planning framework to generate a defense strategy against an attacker who is working in an environment where a defender can operate without the attacker's knowledge. The objective of the defender is to covertly…
The iterative consensus problem requires a set of processes or agents with different initial values, to interact and update their states to eventually converge to a common value. Protocols solving iterative consensus serve as building…
A defender-attacker-target problem with non-moving target is considered. This problem is modeled by a pursuit-evasion zero-sum differential game with linear dynamics and quadratic cost functional. In this game the pursuer is the defender,…
In this paper, we consider controlled linear dynamical systems in which the controller has only access to a compressed version of the system state. The technical problem we investigate is that of allocating compression resources over time…
Maintaining the security of control systems in the presence of integrity attacks is a significant challenge. In literature, several possible attacks against control systems have been formulated including replay, false data injection, and…
The value of cooperation in pursuit-evasion games is investigated. The considered setting is that of three pursuers chasing one evader in a planar environment. The optimal evader trajectory for a well-known decentralized pursuer strategy is…
From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-cooperative targets in GPS-denied environments remains…
This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication…
Investigating cooperativity of interlocutors is central in studying pragmatics of dialogue. Models of conversation that only assume cooperative agents fail to explain the dynamics of strategic conversations. Thus, we investigate the ability…