Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 19 of 19 for “"Multi-Agent Coordination"”.
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Bayesian learning for multi-agent coordination
Multi-agent systems draw together a number of significant trends in modern technology: ubiquity, decentralisation, openness, dynamism and uncertainty. As work in these fields develops, such systems face increasing challenges. Two particular challenges are decision making in uncertain and …
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Multi-agent coordination under limited communication
… that can reason about communication between agents. In multi-agent coordination problems, different agents have different beliefs about the state of the world that can eventually be reconciled if the agents are able to share sufficient information with one another. When communication is …
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Multi-agent Coordination Algorithms for Pursuit-Evasion
The real-world application of multi-agent systems (MAS) is still challenging and limited, despite the exclusive advantage of MAS over single agent systems. The multi-agent coordination or swarm intelligence is a paramount concern. Based on pursuit-evasion games, this thesis investigates the safe …
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Multi-agent coordination for dynamic decentralised task allocation
Coordination of multiple agents for dynamic task allocation is an important and challenging problem, which involves deciding how to assign a set of agents to a set of tasks, both of which may change over time (i.e., it is a dynamic environment). Moreover, it is often necessary for heterogeneous …
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LightMARL : smart swarm coordination in urban spaces
Multi-Agent Reinforcement Learning (MARL) systems generally require substantial computational resources and high-bandwidth communication, which restricts their deployment to centralized cloud infrastructures. This thesis introduces LightMARL, an optimization framework that facilitates effective …
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Consensus, Cooperative Learning, and Flocking for Multi-agent Predator Avoidance
Multi-agent coordination is highly desirable with many uses in a variety of tasks. In nature the phenomenon of coordinated flocking is highly common with applications related to defending or escaping from predators. In this thesis a hybrid multi-agent system that integrates consensus, cooperative …
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Intelligent Knowledge Distribution for Multi-Agent Communication, Planning, and Learning
… dissertation addresses a fundamental question of multi-agent coordination: what infor- mation should be sent to whom and when, with the limited resources available to each agent? Communication requirements for multi-agent systems can be rather high when an accurate picture of the environment and …
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Trustworthy Reinforcement Learning under Constraints and Perturbations
… resource allocation. However, deploying RL agents in real-world applications requires more than achieving high task performance, since it demands trustworthiness, encompassing safety, robustness, and fairness. This thesis investigates how to design RL agents that satisfy these properties in …
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A Flexible Infrastructure for Multi-Agent Systems
Multi-Agent coordination and control has been studied for a long time, but has recently gained more interest because of technology improvements allowing smaller, more versatile robots and other types of agents. To facilitate multi-agent experiments between heterogeneous agents, including robots and …
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Distributed Multi-Agent Decision Making Under Uncertain Communication
… grows with it, we must enact autonomous multi-agent coordination in order to safely operate in environments that are inherently hostile to communication. To the best of our knowledge, there are no multi-agent scheduling algorithms capable of independently reasoning over communication …
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A broadcast-based coordination scheme for a system of autonomous mobile robots
… mobile robots is presented. The broadcast-based coordination scheme was developed for the Army Ant swarm—a system of small, relatively inexpensive mobile robots that can accomplish complex tasks by cooperating as a team. The primary drawback of the Army Ant system is that the absence of a central …
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Learning-based cooperative perception and control for multi-robot systems
Multi-robot systems (MRS) are key to addressing complex real-world problems through the coordination of multiple autonomous agents but are burdened by the curse of dimensionality, which compounds the difficulty of applying solutions to large-scale problem instances. The use of learning-based …
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Adaptive Quaternion Control for a Miniature Tailsitter UAV
… employed in the Brigham Young University Multi-Agent Coordination and Control Lab. Also generated are simple trajectories for transitions between flight modes. A method for the estimation of quaternion attitude is developed, which uses multiple sensors combined in a filtering technique …
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Modeling Social Group Interactions for Realistic Crowd Behaviors
… inform us that crowds are typically composed of multiple social groups (James, 1953; Coleman and James, 1961; Aveni, 1977). These observations indicate that one component of the complexity of crowd dynamics emerges from the presence of various patterns of social interactions within small groups …
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Online Action Selection Methods for Multi-Agent Navigation
In multi-agent navigation, agents have to move from their start positions to their goal locations while avoiding collisions with other agents and any static element in the environment. Existing methods either compute the motion of each agent centrally or allow each agent to compute its own motion. …
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Decentralized Decision Making and Information Sharing in a Team of Autonomous Mobile Agents
… attempt to realize decentralized cooperation and coordination in a heterogeneousteam of autonomous mobile agents, we have proposed a platform to model many practicalissues encountered in the process. The system includes an unexplored environment and ateam of agents with different capabilities. The …
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An Adaptive Approach to Optimal Sparse Mobile-target Search Planning using Heterogeneous Agents
Planning an effective search for locating mobile-targets is essential in a variety of scenarios (e.g., search and rescue, environmental monitoring, law enforcement, etc.). Effective planning is especially important when resources are sparse (i.e., they are insufficient to search a significant …
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Consensus Seeking, Formation Keeping, and Trajectory Tracking in Multiple Vehicle Cooperative Control
<p>Cooperative control problems for multiple vehicle systems can be categorized as either formation control problems with applications to mobile robots, unmanned air vehicles, autonomous underwater vehicles, satellites, aircraft, spacecraft, and automated highway systems, or non-formation control …
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A Comprehensive Method For Coordinating Distributed Energy Resources In A Power Distribution System
… addressed. To devise a comprehensive method for coordination between Distributed Energy Resources in order to achieve a collective goal, is the key point to provide a fully functional and reliable power distribution system incorporating distributed energy resources. A road map to develop such …