相关论文: Multiagent Control of Self-reconfigurable Robots

We propose a formalism to model and reason about multi-agent systems. We allow agents to interact and communicate in different modes so that they can pursue joint tasks; agents may dynamically synchronize, exchange data, adapt their…

In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the…

Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…

For autonomous vehicles (AVs) to behave appropriately on roads populated by human-driven vehicles, they must be able to reason about the uncertain intentions and decisions of other drivers from rich perceptual information. Towards these…

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…

Data-driven simulation has become a favorable way to train and test autonomous driving algorithms. The idea of replacing the actual environment with a learned simulator has also been explored in model-based reinforcement learning in the…

This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…

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…

Self-navigation in non-coordinating crowded environments is formidably challenging within multi-agent systems consisting of non-holonomic robots operating through local sensing. Our primary objective is the development of a novel, rapid,…

Controllability refers to a situation in which a Multi-agent System may be steered from one state to another using specified rules. As a result, there is belief in achieving a given condition by explicit advances. The level of dynamism in…

Robust multi-agent trajectory prediction is essential for the safe control of robotic systems. A major challenge is to efficiently learn a representation that approximates the true joint distribution of contextual, social, and temporal…

Autonomous systems such as self-driving cars and general-purpose robots are safety-critical systems that operate in highly uncertain and dynamic environments. We propose an interactive multi-agent framework where the system-under-design is…

Training an agent to adapt to specific tasks through co-optimization of morphology and control has widely attracted attention. However, whether there exists an optimal configuration and tactics for agents in a multiagent competition…

This paper investigates the planning and control problems for multi-robot systems under linear temporal logic (LTL) specifications. In contrast to most of existing literature, which presumes a static and known environment, our study focuses…

Diversity is an important aspect of highly efficient multi-agent teams. We introduce the main factors that drive a multi-agent system in either direction along the diversity scale. A metric for diversity is described, and we speculate on…

We consider control strategies for large-scale interacting agent systems under uncertainty. The particular focus is on the design of robust controls that allow to bound the variance of the controlled system over time. To this end we…

Modeling agent behavior is central to understanding the emergence of complex phenomena in multiagent systems. Prior work in agent modeling has largely been task-specific and driven by hand-engineering domain-specific prior knowledge. We…

Designing artificial cyber-agents able to interact with human safely, smartly and in a natural way is a current open problem in control. Solving such an issue will allow the design of cyber-agents capable of co-operatively interacting with…