相关论文: Game-Theoretic Safe Multi-Agent Motion Planning wi…

We address the challenge of reliable and efficient interaction in autonomous multi-agent systems, where agents must balance long-term strategic objectives with short-term dynamic adaptation. We propose context-triggered contingency games, a…

In large-scale systems there are fundamental challenges when centralised techniques are used for task allocation. The number of interactions is limited by resource constraints such as on computation, storage, and network communication. We…

Multi-agent reinforcement learning has drawn increasing attention in practice, e.g., robotics and automatic driving, as it can explore optimal policies using samples generated by interacting with the environment. However, high reward…

An autonomous and resilient controller is proposed for leader-follower multi-agent systems under uncertainties and cyber-physical attacks. The leader is assumed non-autonomous with a nonzero control input, which allows changing the team…

This paper introduces a hybrid algorithm of deep reinforcement learning (RL) and Force-based motion planning (FMP) to solve distributed motion planning problem in dense and dynamic environments. Individually, RL and FMP algorithms each have…

Traditionally, the performance of multi-agent deep reinforcement learning algorithms are demonstrated and validated in gaming environments where we often have a fixed number of agents. In many industrial applications, the number of…

Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…

The recent advancement in real-world critical infrastructure networks has led to an exponential growth in the use of automated devices which in turn has created new security challenges. In this paper, we study the robust and adaptive…

In order for agents in multi-agent systems (MAS) to be safe, they need to take into account the risks posed by the actions of other agents. However, the dominant paradigm in game theory (GT) assumes that agents are not affected by risk from…

The Stackelberg game model, where a leader commits to a strategy and the follower best responds, has found widespread application, particularly to security problems. In the security setting, the goal is for the leader to compute an optimal…

Current 3D scene graph generation (3DSGG) approaches heavily rely on a single-agent assumption and small-scale environments, exhibiting limited scalability to real-world scenarios. In this work, we introduce Multi-Agent 3D Scene Graph…

The capability to learn and adapt to changes in the driving environment is crucial for developing autonomous driving systems that are scalable beyond geo-fenced operational design domains. Deep Reinforcement Learning (RL) provides a…

A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…

Mean-field games (MFG) have become significant tools for solving large-scale multi-agent reinforcement learning problems under symmetry. However, the assumption of exact symmetry limits the applicability of MFGs, as real-world scenarios…

There has been an increasing interest in using neural networks in closed-loop control systems to improve performance and reduce computational costs for on-line implementation. However, providing safety and stability guarantees for these…

Development of guidance, navigation and control frameworks/algorithms for swarms attracted significant attention in recent years. That being said, algorithms for planning swarm allocations/trajectories for engaging with enemy swarms is…

To be successful in multi-player drone racing, a player must not only follow the race track in an optimal way, but also compete with other drones through strategic blocking, faking, and opportunistic passing while avoiding collisions. Since…

To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadlocks, and scale to thousands of agents. Current approaches…

This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with…

As an important branch of embodied artificial intelligence, mobile manipulators are increasingly applied in intelligent services, but their redundant degrees of freedom also limit efficient motion planning in cluttered environments. To…