Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot or human-robot collaboration, localizing all agents in the same map is even necessary. However, localizing e.g. a ground robot in the map of a drone or head-mounted MR headset presents unique challenges due to viewpoint changes. This work investigates how active visual localization can be used to overcome such challenges of viewpoint changes. Specifically, we focus on the problem of selecting the optimal viewpoint at a given location. We compare existing approaches in the literature with additional proposed baselines and propose a novel data-driven approach. The result demonstrates the superior performance of the data-driven approach when compared to existing methods, both in controlled simulation experiments and real-world deployment.

In multiagent systems (MASs), agents' observation upon system behaviours may improve the overall team performance, but may also leak sensitive information to an observer. A quantified observability analysis can thus be useful to assist decision-making in MASs by operators seeking to optimise the relationship between performance effectiveness and information exposure through observations in practice. This paper presents a novel approach to quantitatively analysing the observability properties in MASs. The concept of opacity is applied to formally express the characterisation of observability in MASs modelled as partially observable multiagent systems. We propose a temporal logic oPATL to reason about agents' observability with quantitative goals, which capture the probability of information transparency of system behaviours to an observer, and develop verification techniques for quantitatively analysing such properties. We implement the approach as an extension of the PRISM model checker, and illustrate its applicability via several examples.

Ensuring safety in dynamic multi-agent systems is challenging due to limited information about the other agents. Control Barrier Functions (CBFs) are showing promise for safety assurance but current methods make strong assumptions about other agents and often rely on manual tuning to balance safety, feasibility, and performance. In this work, we delve into the problem of adaptive safe learning for multi-agent systems with CBF. We show how emergent behavior can be profoundly influenced by the CBF configuration, highlighting the necessity for a responsive and dynamic approach to CBF design. We present ASRL, a novel adaptive safe RL framework, to fully automate the optimization of policy and CBF coefficients, to enhance safety and long-term performance through reinforcement learning. By directly interacting with the other agents, ASRL learns to cope with diverse agent behaviours and maintains the cost violations below a desired limit. We evaluate ASRL in a multi-robot system and a competitive multi-agent racing scenario, against learning-based and control-theoretic approaches. We empirically demonstrate the efficacy and flexibility of ASRL, and assess generalization and scalability to out-of-distribution scenarios. Code and supplementary material are public online.

Recent challenges in operating power networks arise from increasing energy demands and unpredictable renewable sources like wind and solar. While reinforcement learning (RL) shows promise in managing these networks, through topological actions like bus and line switching, efficiently handling large action spaces as networks grow is crucial. This paper presents a hierarchical multi-agent reinforcement learning (MARL) framework tailored for these expansive action spaces, leveraging the power grid's inherent hierarchical nature. Experimental results indicate the MARL framework's competitive performance with single-agent RL methods. We also compare different RL algorithms for lower-level agents alongside different policies for higher-order agents.

Large language model (LLM) agents have been shown effective on a wide range of tasks, and by ensembling multiple LLM agents, their performances could be further improved. Existing approaches employ a fixed set of agents to interact with each other in a static architecture, which limits their generalizability to various tasks and requires strong human prior in designing these agents. In this work, we propose to construct a strategic team of agents communicating in a dynamic interaction architecture based on the task query. Specifically, we build a framework named Dynamic LLM-Agent Network ($\textbf{DyLAN}$) for LLM-agent collaboration on complicated tasks like reasoning and code generation. DyLAN enables agents to interact for multiple rounds in a dynamic architecture with inference-time agent selection and an early-stopping mechanism to improve performance and efficiency. We further design an automatic agent team optimization algorithm based on an unsupervised metric termed $\textit{Agent Importance Score}$, enabling the selection of best agents based on the contribution each agent makes. Empirically, we demonstrate that DyLAN performs well in both reasoning and code generation tasks with reasonable computational cost. DyLAN achieves 13.0% and 13.3% improvement on MATH and HumanEval, respectively, compared to a single execution on GPT-35-turbo. On specific subjects of MMLU, agent team optimization in DyLAN increases accuracy by up to 25.0%.

As Natural Language Processing (NLP) systems are increasingly employed in intricate social environments, a pressing query emerges: Can these NLP systems mirror human-esque collaborative intelligence, in a multi-agent society consisting of multiple large language models (LLMs)? This paper probes the collaboration mechanisms among contemporary NLP systems by melding practical experiments with theoretical insights. We fabricate four unique `societies' comprised of LLM agents, where each agent is characterized by a specific `trait' (easy-going or overconfident) and engages in collaboration with a distinct `thinking pattern' (debate or reflection). Evaluating these multi-agent societies on three benchmark datasets, we discern that LLM agents navigate tasks by leveraging diverse social behaviors, from active debates to introspective reflections. Notably, certain collaborative strategies only optimize efficiency (using fewer API tokens), but also outshine previous top-tier approaches. Moreover, our results further illustrate that LLM agents manifest human-like social behaviors, such as conformity or majority rule, mirroring foundational Social Psychology theories. In conclusion, we integrate insights from Social Psychology to contextualize the collaboration of LLM agents, inspiring further investigations into the collaboration mechanism for LLMs. We commit to sharing our code and datasets (already submitted in supplementary materials), hoping to catalyze further research in this promising avenue (All code and data are available at \url{https://github.com/zjunlp/MachineSoM}.).

Traffic signal control (TSC) is a challenging problem within intelligent transportation systems and has been tackled using multi-agent reinforcement learning (MARL). While centralized approaches are often infeasible for large-scale TSC problems, decentralized approaches provide scalability but introduce new challenges, such as partial observability. Communication plays a critical role in decentralized MARL, as agents must learn to exchange information using messages to better understand the system and achieve effective coordination. Deep MARL has been used to enable inter-agent communication by learning communication protocols in a differentiable manner. However, many deep MARL communication frameworks proposed for TSC allow agents to communicate with all other agents at all times, which can add to the existing noise in the system and degrade overall performance. In this study, we propose a communication-based MARL framework for large-scale TSC. Our framework allows each agent to learn a communication policy that dictates "which" part of the message is sent "to whom". In essence, our framework enables agents to selectively choose the recipients of their messages and exchange variable length messages with them. This results in a decentralized and flexible communication mechanism in which agents can effectively use the communication channel only when necessary. We designed two networks, a synthetic $4 \times 4$ grid network and a real-world network based on the Pasubio neighborhood in Bologna. Our framework achieved the lowest network congestion compared to related methods, with agents utilizing $\sim 47-65 \%$ of the communication channel. Ablation studies further demonstrated the effectiveness of the communication policies learned within our framework.

An overview of the process to develop a safety case for an autonomous robot deployment on a nuclear site in the UK is described and a safety case for a hypothetical robot incorporating AI is presented. This forms a first step towards a deployment, showing what is possible now and what may be possible with development of tools. It forms the basis for further discussion between nuclear site licensees, the Office for Nuclear Regulation (ONR), industry and academia.

System correctness is one of the most crucial and challenging objectives in software and hardware systems. With the increasing evolution of connected and distributed systems, ensuring their correctness requires the use of formal verification for multi-agent systems. In this paper, we present a summary of certain results on model checking for multi-agent systems that derive from the selection of strategies and information for agents. Additionally, we discuss some open directions for future research.

AutoGen is an open-source framework that allows developers to build LLM applications via multiple agents that can converse with each other to accomplish tasks. AutoGen agents are customizable, conversable, and can operate in various modes that employ combinations of LLMs, human inputs, and tools. Using AutoGen, developers can also flexibly define agent interaction behaviors. Both natural language and computer code can be used to program flexible conversation patterns for different applications. AutoGen serves as a generic infrastructure to build diverse applications of various complexities and LLM capacities. Empirical studies demonstrate the effectiveness of the framework in many example applications, with domains ranging from mathematics, coding, question answering, operations research, online decision-making, entertainment, etc.