相关论文: Formation Control of Multi-agent System with Local…

Large language model (LLM)-driven multi-agent systems (MAS) are transforming how humans and AIs collaboratively generate ideas and artifacts. While existing surveys provide comprehensive overviews of MAS infrastructures, they largely…

We study the problem of distance-based formation control in autonomous multi-agent systems in which only distance measurements are available. This means that the target formations as well as the sensed variables are both determined by…

Mean-Field Control (MFC) is a powerful tool to solve Multi-Agent Reinforcement Learning (MARL) problems. Recent studies have shown that MFC can well-approximate MARL when the population size is large and the agents are exchangeable.…

This paper presents a novel zone-based flocking control approach suitable for dynamic multi-agent systems (MAS). Inspired by Reynolds behavioral rules for $boids$, flocking behavioral rules with the zones of repulsion, conflict, attraction,…

We propose a novel complete algorithm for multi-agent pathfinding (MAPF) called lazy constraints addition search for MAPF (LaCAM). MAPF is a problem of finding collision-free paths for multiple agents on graphs and is the foundation of…

Multi-agent systems (MAS) have shown great potential in executing complex tasks, but coordination and safety remain significant challenges. Multi-Agent Reinforcement Learning (MARL) offers a promising framework for agent collaboration, but…

Multi-agent systems (MAS) based on Large Language Models (LLMs) have the potential to solve tasks that are beyond the reach of any single LLM. However, this potential can only be realized when the collaboration mechanism between agents is…

We propose a formalism to model and reason about reconfigurable multi-agent systems. In our formalism, agents interact and communicate in different modes so that they can pursue joint tasks; agents may dynamically synchronize, exchange…

Cooperative multi-agent reinforcement learning (MARL) under sparse rewards remains fundamentally challenging because agents often fail to concentrate their influence, leading to insufficiently coordinated exploration. To address this, we…

In orchestrated multi-agent systems, humans often struggle to manage plans due to their complexity and limited transparency. Existing approaches rely on outcome-level supervision, where users verify only final outputs without visibility…

This paper addresses a distributed leader-follower formation control problem for a group of agents, each using a body-fixed camera with a limited field of view (FOV) for state estimation. The main challenge arises from the need to…

A large amount of work has been done in Multi-Agent Systems (MAS) for modeling and solving problems with multiple interacting agents. However, most LLMs are pretrained independently and not specifically optimized for coordination. Existing…

Affine formation control (AFC) is a subset of formation control methods that enables coordinated multiagent movement while preserving affine relationships, and has recently gained increasing popularity due to its broad applicability across…

This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals expressed as Linear Temporal Logic (LTL) formulas. In particular, we design…

We study a decentralized version of Moving Agents in Formation (MAiF), a variant of Multi-Agent Path Finding aiming to plan collision-free paths for multiple agents with the dual objectives of reaching their goals quickly while maintaining…

In the era of (multi-modal) large language models, most operational processes can be reformulated and reproduced using LLM agents. The LLM agents can perceive, control, and get feedback from the environment so as to accomplish the given…

Safely interacting with other traffic participants is one of the core requirements for autonomous driving, especially in intersections and occlusions. Most existing approaches are designed for particular scenarios and require significant…

With the rapid evolution of wireless mobile devices, there emerges an increased need to design effective collaboration mechanisms between intelligent agents, so as to gradually approach the final collective objective through continuously…

Existing methods for safe multi-agent control using logic specifications like Signal Temporal Logic (STL) often face scalability issues. This is because they rely either on single-agent perspectives or on Mixed Integer Linear Programming…

Animating and simulating crowds using an agent-based approach is a well-established area where every agent in the crowd is individually controlled such that global human-like behaviour emerges. We observe that human navigation and movement…