相关论文: Receding Horizon Multi-Agent Deceptive Path Planne…

Distributed learning has gained significant attention due to its advantages in scalability, privacy, and fault tolerance.In this paradigm, multiple agents collaboratively train a global model by exchanging parameters only with their…

We address the problem of simultaneously learning and control in an online receding horizon control setting. We consider the control of an unknown linear dynamical system with general cost functions and affine constraints on the control…

Planning multi-contact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated…

Systems operating in adversarial environments may inadvertently leak sensitive information to adversaries. To address this challenge, we revisit the linear-quadratic control framework and introduce deception to actively mislead adversaries.…

Nowadays, unmanned aerial vehicles or UAVs are being used for a wide range of tasks, including infrastructure inspection, automated monitoring and coverage. This paper investigates the problem of 3D inspection planning with an autonomous…

We study the problem of trajectory optimization in settings where the system dynamics are unknown and it is not possible to simulate trajectories through a surrogate model. When an offline dataset of trajectories is available, an agent…

We address the multi-agent persistent monitoring problem defined on a set of nodes (targets) interconnected over a network topology. A measure of mean overall node state uncertainty evaluated over a finite period is to be minimized by…

Scientists often search for phenomena of interest while exploring new environments. Autonomous vehicles are deployed to explore such areas where human-operated vehicles would be costly or dangerous. Online control of autonomous vehicles for…

For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…

This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathematical vehicle model that captures both…

Model predictive control (MPC) is a popular control method that has proved effective for robotics, among other fields. MPC performs re-planning at every time step. Re-planning is done with a limited horizon per computational and real-time…

We consider the synthesis problem of a multi-agent system under signal temporal logic (STL) specifications representing bounded-time tasks that need to be satisfied recurrently over an infinite horizon. Motivated by the limited approaches…

In Multiagent Path Finding (MAPF), the goal is to compute efficient, collision-free paths for multiple agents navigating a network from their sources to targets, minimizing the schedule's makespan-the total time until all agents reach their…

We study a novel graph path planning problem for multiple agents that may crash at runtime, and block part of the workspace. In our setting, agents can detect neighboring crashed agents, and change followed paths at runtime. The objective…

Despite their remarkable success in complex tasks propelling widespread adoption, large language-model-based agents still face critical deployment challenges due to prohibitive latency and inference costs. While recent work has explored…

The trade-off between the quality and timeliness of adaptation is a multi-faceted challenge in engineering self-adaptive systems. Obtaining adaptation plans that fulfill system objectives with high utility and in a timely manner is the holy…

Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…

We consider a setting where a supervisor delegates an agent to perform a certain control task, while the agent is incentivized to deviate from the given policy to achieve its own goal. In this work, we synthesize the optimal deceptive…

This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group of automated robots that provide package delivery services…

In this article we present a unified framework based on receding horizon techniques that can be used to design the three tasks (guidance, navigation and path-planning) which are involved in the autonomy of unmanned vehicles. This tasks are…