9 papers
Learning Altruistic Collaboration in Heterogeneous Multi-Team Systems
Riwa Karam, Ruoyu Lin, Brooks A. Butler +1
This paper studies heterogeneous multi-team collaboration through dynamic robot allocation, where robots are treated as transferable resources. Leveraging Hamilton's rule from ecol…
Collaborative Altruistic Safety in Coupled Multi-Agent Systems
Brooks A. Butler, Xiao Tan, Aaron D. Ames +1
This paper presents a novel framework for ensuring safety in dynamically coupled multi-agent systems through collaborative control. Drawing inspiration from ecological models of al…
Collaboration in Multi-Robot Systems: Taxonomy and Survey over Frameworks for Collaboration
Riwa Karam, Alexander A. Nguyen, Ruoyu Lin +4
Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite…
Robust Safety-Critical Control of Networked SIR Dynamics
Saba Samadi, Brooks A. Butler, Philip E. Paré
We present a robust safety-critical control framework tailored for networked susceptible-infected-recovered (SIR) epidemic dynamics, leveraging control barrier functions (CBFs) and…
Resource Allocation with Multi-Team Collaboration Based on Hamilton's Rule
Riwa Karam, Ruoyu Lin, Brooks A. Butler +1
This paper presents a multi-team collaboration strategy based on Hamilton's rule from ecology that facilitates resource allocation among multiple teams, where agents are considered…
Hamilton's Rule for Enabling Altruism in Multi-Agent Systems
Brooks A. Butler, Magnus Egerstedt
This paper explores the application of Hamilton's rule to altruistic decision-making in multi-agent systems. Inspired by biological altruism, we introduce a framework that evaluate…