相关论文: Formation Control of Multi-agent System with Local…
A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free…
We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers toward a desired spatial distribution. Unlike prior work, we…
In this work, we address the motion planning problem for autonomous vehicles through a new lattice planning approach, called Feedback Enhanced Lattice Planner (FELP). Existing lattice planners have two major limitations, namely the high…
Deploying multi-robot systems in environments shared with dynamic and uncontrollable agents presents significant challenges, especially for large robot fleets. In such environments, individual robot operations can be delayed due to…
Agent-Based Modelling (ABM) has emerged as an essential tool for simulating social networks, encompassing diverse phenomena such as information dissemination, influence dynamics, and community formation. However, manually configuring varied…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
Large Language Model (LLM)-based multi-agent systems (MAS) have emerged as a promising paradigm for solving complex tasks. However, existing works often rely on manual designs or "one-size-fits-all" automation, lacking dynamic adaptability…
This paper develops a controller synthesis approach for a multi-agent system (MAS) with intermittent communication. We adopt a leader-follower scheme, where a mobile leader with absolute position sensors switches among a set of followers…
The conventional Artificial Potential Field (APF) is fundamentally limited by the local minima issue and its inability to account for the kinematics of moving obstacles. This paper addresses the critical challenge of autonomous collision…
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…
This paper studies the problem of distributed formation maneuver control of multi-agent systems via complex Laplacian. We will show how to change the translation, scaling, rotation, and also the shape of formation continuously by only…
Multi-agent collision-free trajectory planning and control subject to different goal requirements and system dynamics has been extensively studied, and is gaining recent attention in the realm of machine and reinforcement learning. However,…
Large-scale Multi-Agent Reinforcement Learning (MARL) often suffers from the curse of dimensionality, as the exponential growth in agent interactions significantly increases computational complexity and impedes learning efficiency. To…
Multi-agent path finding (MAPF) determines an ensemble of collision-free paths for multiple agents between their respective start and goal locations. Among the available MAPF planners for workspace modeled as a graph, A*-based approaches…
This paper addresses a formation tracking problem for nonlinear multi-agent systems with time-varying actuator faults, in which only a subset of agents has access to the leader's information over the directed leader-follower network with a…
LLM-powered Multi-Agent Systems (LLM-MAS) unlock new potentials in distributed reasoning, collaboration, and task generalization but also introduce additional risks due to unguaranteed agreement, cascading uncertainty, and adversarial…
Formation control of autonomous agents can be seen as a physical system of individuals interacting with local potentials, and whose evolution can be described by a Lagrangian function. In this paper, we construct and implement forced…
This brief proposes a distributed formation control strategy via matrix-weighted Laplacian that can achieve a similar formation in 2-D planar using inter-agent relative displacement measurement. Formation patterns that include translation,…
Recent progress in large language model (LLM)-based multi-agent collaboration highlights the power of structured communication in enabling collective intelligence. However, existing methods largely rely on static or graph-based inter-agent…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…