相关论文: Auction-Based Responsibility Allocation for Scalab…
It is unrealistic to assume that all nodes in an ad hoc wireless network would be willing to participate in cooperative communication, especially if their desired Quality-of- Service (QoS) is achievable via direct transmission. An…
In this paper, we consider a general distributed system with multiple agents who select and then implement actions in the system. The system has an operator with a centralized objective. The agents, on the other hand, are selfinterested and…
In this work, we propose a novel safe and scalable decentralized solution for multi-agent control in the presence of stochastic disturbances. Safety is mathematically encoded using stochastic control barrier functions and safe controls are…
Control barrier functions (CBFs) enable guaranteed safe multi-agent navigation in the continuous domain. The resulting navigation performance, however, is highly sensitive to the underlying hyperparameters. Traditional approaches consider…
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…
In this article, we propose a control architecture for the safe, coordinated operation of a multi-agent system with aerial (UAVs) and ground (UGVs) robots in a confined task space. We consider the case where the aerial and ground operations…
In this paper a new mathematical model is proposed for task scheduling and resource allocation in Grid systems. In this novel model, load balancing, starvation prevention and failing strategies are stated as the constraints and the solution…
In traditional machine learning, the central server first collects the data owners' private data together and then trains the model. However, people's concerns about data privacy protection are dramatically increasing. The emerging paradigm…
Operating large autonomous fleets demands fast, resilient allocation of scarce resources (such as energy and fuel, charger access and maintenance slots, time windows, and communication bandwidth) under uncertainty. We propose a…
This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information.…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
We propose a human-centered safety filter (HCSF) for shared autonomy that significantly enhances system safety without compromising human agency. Our HCSF is built on a neural safety value function, which we first learn scalably through…
We consider a general multi-connectivity framework, intended for ultra-reliable low-latency communications (URLLC) services, and propose a novel, preallocation-based combinatorial auction approach for the efficient allocation of channels.…
With multi-agent systems increasingly deployed autonomously at scale in complex environments, ensuring safety of the data-driven policies is critical. Control Barrier Functions have emerged as an effective tool for enforcing safety…
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…
This paper studies the solution of joint energy storage (ES) ownership sharing between multiple shared facility controllers (SFCs) and those dwelling in a residential community. The main objective is to enable the residential units (RUs) to…
Multi-agent shepherding represents a challenging distributed control problem where herder agents must coordinate to guide independently moving targets to desired spatial configurations. Most existing control strategies assume cohesive…
Diffusion auction is a new model in auction design. It can incentivize the buyers who have already joined in the auction to further diffuse the sale information to others via social relations, whereby both the seller's revenue and the…
Cooperative transmission can greatly improve communication system performance by taking advantage of the broadcast nature of wireless channels. Most previous work on resource allocation for cooperation transmission is based on centralized…
Learning-based control approaches have shown great promise in performing complex tasks directly from high-dimensional perception data for real robotic systems. Nonetheless, the learned controllers can behave unexpectedly if the trajectories…