Decentralized Multi-agent Coordination under MITL Tasks and Communication Constraints

Wang, Wei; Schuppe, Georg Friedrich; Tůmová, Jana

doi:10.1109/iccps54341.2022.00051

Cited by 3 publications

(2 citation statements)

References 6 publications

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“…Recent advancements in the fields of Artificial Intelligence [1][2][3][4][5][6][7], Machine Learning [8][9][10][11], Robotics [12][13][14][15][16], and Signal Processing [17][18][19] have provided humankind with unique set of tools that, for the first time in history, have the potential to address some of the most important problems existing in the field of group autonomy of unmanned systems [20]. These advancements naturally create a need for real-time systems and algorithms capable of providing decentralized multi-sensor classification and multi-agent coordination in missions subject to constrained communications, [21,22]. This is especially important for teams of agents performing non-centralized surveillance with non-scheduled coordination, [23,24].…”

Section: Introductionmentioning

confidence: 99%

Preliminary Experimental Results of Context-Aware Teams of Multiple Autonomous Agents Operating under Constrained Communications

et al. 2022

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This work presents and experimentally tests the framework used by our context-aware, distributed team of small Unmanned Aerial Systems (SUAS) capable of operating in real time, in an autonomous fashion, and under constrained communications. Our framework relies on a three-layered approach: (1) an operational layer, where fast temporal and narrow spatial decisions are made; (2) a tactical layer, where temporal and spatial decisions are made for a team of agents; and (3) a strategical layer, where slow temporal and wide spatial decisions are made for the team of agents. These three layers are coordinated by an ad hoc, software-defined communications network, which ensures sparse but timely delivery of messages amongst groups and teams of agents at each layer, even under constrained communications. Experimental results are presented for a team of 10 small unmanned aerial systems tasked with searching for and monitoring a person in an open area. At the operational layer, our use case presents an agent autonomously performing searching, detection, localization, classification, identification, tracking, and following of the person, while avoiding malicious collisions. At the tactical layer, our experimental use case presents the cooperative interaction of a group of multiple agents that enables the monitoring of the targeted person over wider spatial and temporal regions. At the strategic layer, our use case involves the detection of complex behaviors, i.e., the person being followed enters a car and runs away, or the person being followed exits the car and runs away, which require strategic responses to successfully accomplish the mission.

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Section: Introductionmentioning

confidence: 99%

Preliminary Experimental Results of Context-Aware Teams of Multiple Autonomous Agents Operating under Constrained Communications

et al. 2022

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“…These advancements have created a demand for real-time systems and algorithms capable of decentralized multi-sensor classification and multi-UAV coordination, particularly in missions with limited communication resources [106,107]. This need is crucial for swarm of UAVs involved in non-centralized surveillance and non-scheduled coordination [108,109].…”

Section: Ai-based Fully Autonomous Uav and Its Swarmmentioning

confidence: 99%

Robust flight control and visual/radar-based indoor navigation for autonomous multicopters and their swarms

Jing

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I would like to express my gratitude to Professor Jose A. Martinez-Lorenzo, my esteemed PhD advisor. His innovative thinking, dedication, and ability to secure funding have been instrumental in supporting SICA-Lab students, including myself. Professor Martinez-Lorenzo's guidance and willingness to engage in discussions have been invaluable in solving research challenges throughout my PhD journey. Under his mentorship, I have developed creative thinking and independence as a researcher.I extend my heartfelt thanks to my colleagues at the SICA-Lab for their unwavering dedication and collaborative spirit. Their teamwork has greatly facilitated rapid and high-quality progress in our research endeavors.I am deeply grateful to Professor Rifat Sipahi and Doctor Juan Heredia-Juesas for their generous contributions as members of my PhD committee. Their time and assistance during my dissertation process have been truly appreciated.Furthermore, I would like to express my profound appreciation to my parents. Their boundless love and unwavering support have been my pillar of strength throughout my PhD journey. Their belief in my decisions has bolstered my confidence and determination in pursuing both shortterm and long-term career goals.

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Formal synthesis of controllers for safety-critical autonomous systems: Developments and challenges

Yin,

Gao,

2024

Annual Reviews in Control

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Decentralized Multi-agent Coordination under MITL Tasks and Communication Constraints

Cited by 3 publications

References 6 publications

Preliminary Experimental Results of Context-Aware Teams of Multiple Autonomous Agents Operating under Constrained Communications

Preliminary Experimental Results of Context-Aware Teams of Multiple Autonomous Agents Operating under Constrained Communications

Robust flight control and visual/radar-based indoor navigation for autonomous multicopters and their swarms

Formal synthesis of controllers for safety-critical autonomous systems: Developments and challenges

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