Incorporating Social Awareness into Control of Unknown Multi-Agent Systems: A Real-Time Spatiotemporal Tubes Approach
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866908948533084160 |
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| author | Upadhyay, Siddhartha Das, Ratnangshu Jagtap, Pushpak |
| author_facet | Upadhyay, Siddhartha Das, Ratnangshu Jagtap, Pushpak |
| contents | This paper presents a decentralized control framework that incorporates social awareness into multi-agent systems with unknown dynamics to achieve prescribed-time reach-avoid-stay tasks in dynamic environments. Each agent is assigned a social awareness index that quantifies its level of cooperation or self-interest, allowing heterogeneous social behaviors within the system. Building on the spatiotemporal tube (STT) framework, we propose a real-time STT framework that synthesizes tubes online for each agent while capturing its social interactions with others. A closed-form, approximation-free control law is derived to ensure that each agent remains within its evolving STT, thereby avoiding dynamic obstacles while also preventing inter-agent collisions in a socially aware manner, and reaching the target within a prescribed time. The proposed approach provides formal guarantees on safety and timing, and is computationally lightweight, model-free, and robust to unknown disturbances. The effectiveness and scalability of the framework are validated through simulation and hardware experiments on a 2D omnidirectional |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_25597 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Incorporating Social Awareness into Control of Unknown Multi-Agent Systems: A Real-Time Spatiotemporal Tubes Approach Upadhyay, Siddhartha Das, Ratnangshu Jagtap, Pushpak Systems and Control Robotics This paper presents a decentralized control framework that incorporates social awareness into multi-agent systems with unknown dynamics to achieve prescribed-time reach-avoid-stay tasks in dynamic environments. Each agent is assigned a social awareness index that quantifies its level of cooperation or self-interest, allowing heterogeneous social behaviors within the system. Building on the spatiotemporal tube (STT) framework, we propose a real-time STT framework that synthesizes tubes online for each agent while capturing its social interactions with others. A closed-form, approximation-free control law is derived to ensure that each agent remains within its evolving STT, thereby avoiding dynamic obstacles while also preventing inter-agent collisions in a socially aware manner, and reaching the target within a prescribed time. The proposed approach provides formal guarantees on safety and timing, and is computationally lightweight, model-free, and robust to unknown disturbances. The effectiveness and scalability of the framework are validated through simulation and hardware experiments on a 2D omnidirectional |
| title | Incorporating Social Awareness into Control of Unknown Multi-Agent Systems: A Real-Time Spatiotemporal Tubes Approach |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2510.25597 |