Authors
Alexander A. Nguyen, Faryar Jabbari, Magnus Egerstedt
Abstract
This paper aims to answer two fundamental questions: “Why should agents collaborate?” and “How should agents collaborate?”. In this work, agents with different capabilities can work together within a shared workspace to accomplish their tasks. Moreover, the collaboration between agents is inspired by the ecological concept known as mutualism, i.e., an interaction between two or more species that benefits everyone involved. The collaborative arrangements between the agents are made possible through the composition of barrier functions, which expand and contract the agents’ safe sets. We also establish a framework for enabling collaborative interactions in a multi-agent setting. Lastly, we demonstrate our collaboration framework in two case studies requiring the agents to work together to complete their respective tasks.
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