相关论文: Auction-Based Responsibility Allocation for Scalab…

In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other agents in the system are considered as dynamic obstacles with…

Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamentally challenging problem. Redundantly assigning multiple robots to such tasks is overly conservative, while purely reactive…

This paper presents a decentralized Control Barrier Function (CBF) based approach for highway merging of Connected and Automated Vehicles (CAVs). In this control algorithm, each "host" vehicle negotiates with other agents in a control zone…

We study auction design in a setting where agents can communicate over a censorship-resistant broadcast channel like the ones we can implement over a public blockchain. We seek to design credible, strategyproof auctions in a model that…

Safe navigation for multi-robot systems requires enforcing safety without sacrificing task efficiency under decentralized decision-making. Existing decentralized methods often assume robot homogeneity, making shared safety requirements…

A novel distributed energy allocation mechanism for Distribution System Operator (DSO) market through a bi-level iterative auction is proposed. With the locational marginal price at the substation node known, the DSO runs an upper level…

We examine the complexity of the standard High-Order Control Barrier Function (HOCBF) approach and propose a truncated Taylor-based approach that reduces design parameters. First, we derive the explicit inequality condition for the HOCBF…

In collaborative human-robot environments, the unpredictable and dynamic nature of human motion can lead to situations where collisions become unavoidable. In such cases, it is essential for the robotic system to proactively mitigate…

Max Consensus-based Auction (MCA) protocols are an elegant approach to establish conflict-free distributed allocations in a wide range of network utility maximization problems. A set of agents independently bid on a set of items, and…

Decentralized safe control plays an important role in multi-agent systems given the scalability and robustness without reliance on a central authority. However, without an explicit global coordinator, the decentralized control methods are…

In this work, we propose an extension of the previously introduced Corridor Model Predictive Control scheme for high-order and distributed systems, with an application for on-orbit inspection. To this end, we leverage high order control…

Safety is of great importance in multi-robot navigation problems. In this paper, we propose a control barrier function (CBF) based optimizer that ensures robot safety with both high probability and flexibility, using only sensor…

In decentralized systems, nodes often need to coordinate to access shared resources in a fair manner. One approach to perform such arbitration is to rely on auction mechanisms. Although there is an extensive literature that studies…

This paper addresses the problem of guaranteeing safety of multiple coordinated agents moving in dynamic environments. It has recently been shown that this problem can be efficiently solved through the notion of Control Barrier Functions…

We study a decentralized cooperative stochastic multi-armed bandit problem with $K$ arms on a network of $N$ agents. In our model, the reward distribution of each arm is the same for each agent and rewards are drawn independently across…

This paper extends control barrier functions (CBFs) to high order control barrier functions (HOCBFs) that can be used for high relative degree constraints. The proposed HOCBFs are more general than recently proposed (exponential) HOCBFs. We…

We study a distributed decision-making problem in which multiple agents face the same multi-armed bandit (MAB), and each agent makes sequential choices among arms to maximize its own individual reward. The agents cooperate by sharing their…

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…

Coalitional control is concerned with the management of multi-agent systems where cooperation cannot be taken for granted (due to, e.g., market competition, logistics). This paper proposes a model predictive control (MPC) framework aimed at…

Collision avoidance in heterogeneous fleets of uncrewed vessels is challenging because the decision-making processes and controllers often differ between platforms, and it is further complicated by the limitations on sharing trajectories…