相关论文: Latent Variable Modeling in Multi-Agent Reinforcem…

We develop a Multi-Agent Reinforcement Learning (MARL) method to learn scalable control policies for target tracking. Our method can handle an arbitrary number of pursuers and targets; we show results for tasks consisting up to 1000…

The Visibility-based Persistent Monitoring (VPM) problem seeks to find a set of trajectories (or controllers) for robots to persistently monitor a changing environment. Each robot has a sensor, such as a camera, with a limited field-of-view…

Multi-Agent Systems (MAS) excel at accomplishing complex objectives through the collaborative efforts of individual agents. Among the methodologies employed in MAS, Multi-Agent Reinforcement Learning (MARL) stands out as one of the most…

The capability of UAVs for efficient autonomous navigation and obstacle avoidance in complex and unknown environments is critical for applications in agricultural irrigation, disaster relief and logistics. In this paper, we propose the DPRL…

Connected and automated vehicles (CAVs) are considered a potential solution for future transportation challenges, aiming to develop systems that are efficient, safe, and environmentally friendly. However, CAV control presents significant…

Reinforcement learning (RL) has been widely adopted for controlling and optimizing complex engineering systems such as next-generation wireless networks. An important challenge in adopting RL is the need for direct access to the physical…

This paper presents a multi-agent reinforcement learning (MARL) framework for cooperative collision avoidance of UAV swarms leveraging domain knowledge-driven reward. The reward is derived from knowledge in the domain of image processing,…

Although Multi-Agent Reinforcement Learning (MARL) is effective for complex multi-robot tasks, it suffers from low sample efficiency and requires iterative manual reward tuning. Large Language Models (LLMs) have shown promise in…

Multi-agent reinforcement learning (MARL) has been increasingly adopted in many real-world applications. While MARL enables decentralized deployment on resource-constrained edge devices, it suffers from severe non-stationarity due to the…

This paper addresses the multi-robot pursuit problem for an unknown target, encompassing both target state estimation and pursuit control. First, in state estimation, we focus on using only bearing information, as it is readily available…

Unmanned aerial vehicles (UAVs) are seen as a promising technology to perform a wide range of tasks in wireless communication networks. In this work, we consider the deployment of a group of UAVs to collect the data generated by IoT…

The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…

This work tackles the physical layer security (PLS) problem of maximizing the secrecy rate in heterogeneous UAV networks (HetUAVNs) under propulsion energy constraints. Unlike prior studies that assume uniform UAV capabilities or overlook…

Multi-Agent Reinforcement Learning (MARL) is a branch of machine learning in which agents interact and learn optimal policies through trial and error, addressing complex scenarios where multiple agents interact and learn in the same…

Analysing learning in Multi-Agent Reinforcement Learning (MARL) environments is challenging, in particular with respect to \textit{individual} decision-making. Practitioners frequently struggle to compare training runs due to the inherent…

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…

The proliferation of unmanned aerial vehicles (UAVs) in controlled airspace presents significant risks, including potential collisions, disruptions to air traffic, and security threats. Ensuring the safe and efficient operation of airspace,…

Multi-agent reinforcement learning (MARL) is a widely used Artificial Intelligence (AI) technique. However, current studies and applications need to address its scalability, non-stationarity, and trustworthiness. This paper aims to review…

The exploration of unknown, Global Navigation Satellite System (GNSS) denied environments by an autonomous communication-aware and collaborative group of Unmanned Aerial Vehicles (UAVs) presents significant challenges in coordination,…

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…