相关论文: Spatiotemporal Tubes based Control of Unknown Mult…
This paper concerns the consensus of discrete-time multi-agent systems with linear or linearized dynamics. An observer-type protocol based on the relative outputs of neighboring agents is proposed. The consensus of such a multi-agent system…
This paper addresses the problem of decentralized tube-based nonlinear Model Predictive Control (NMPC) for a class of uncertain nonlinear continuous-time multi-agent systems with additive and bounded disturbance. In particular, the problem…
Self-triggered control (STC) is a resource efficient approach to determine sampling instants for Networked Control Systems (NCS). Recently, a dynamic STC strategy based on hybrid Lyapunov functions for nonlinear NCS has been proposed in…
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 formalise and study multi-agent timed models MAPTs (Multi-Agent with timed Periodic Tasks), where each agent is associated to a regular timed schema upon which all possibles actions of the agent rely. MAPTs allow for an accelerated…
In this paper, we study asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented only based on the state information at some…
In this paper we examine how Lagrangian techniques can be used to compute underapproximations and overapproximation of the finite-time horizon, stochastic reach-avoid level sets for discrete-time, nonlinear systems. This approach is…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
This paper considers self-triggered consensus control of unknown linear multi-agent systems (MASs). Self-triggering mechanisms (STMs) are widely used in MASs, thanks to their advantages in avoiding continuous monitoring and saving computing…
In this paper, we investigate the controller design problem for linear disturbed systems under signal temporal logic (STL) specifications imposing both spatial and temporal constraints on system behavior. We first implement zonotope-based…
Reinforcement learning-based path planning for multi-agent systems of varying size constitutes a research topic with increasing significance as progress in domains such as urban air mobility and autonomous aerial vehicles continues.…
In this paper, an algorithm for Unmanned Aircraft Systems Traffic Management (UTM) for a finite number of unmanned aerial vehicles (UAVs) is proposed. This algorithm is developed by combining the Rapidly-Exploring Random Trees (RRT) and…
Understanding visual scenes requires not only recognizing objects but also reasoning about their spatial relationships. Unlike general vision-language tasks, spatial reasoning requires integrating multiple inductive biases, such as 2D…
Stealthy multi-agent active search is the problem of making efficient sequential data-collection decisions to identify an unknown number of sparsely located targets while adapting to new sensing information and concealing the search agents'…
This paper studies a novel planning problem for multiple agents that cannot share holding resources, named OTIMAPP (Offline Time-Independent Multi-Agent Path Planning). Given a graph and a set of start-goal pairs, the problem consists in…
Continuous-time control of multiple quadrotors in constrained environments under signal temporal logic (STL) specifications is critical due to their nonlinear dynamics, safety constraints, and the requirement to ensure continuous-time…
Traffic forecasting has emerged as a core component of intelligent transportation systems. However, timely accurate traffic forecasting, especially long-term forecasting, still remains an open challenge due to the highly nonlinear and…
The optimal control for mobile agents is an important and challenging issue. Recent work shows that using randomized mechanism in agents' control can make the state unpredictable, and thus improve the security of agents. However, the…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…