{"ID":2848635,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.25597","arxiv_id":"2510.25597","title":"Incorporating Social Awareness into Control of Unknown Multi-Agent Systems: A Real-Time Spatiotemporal Tubes Approach","abstract":"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","short_abstract":"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, al...","url_abs":"https://arxiv.org/abs/2510.25597","url_pdf":"https://arxiv.org/pdf/2510.25597v2","authors":"[\"Siddhartha Upadhyay\",\"Ratnangshu Das\",\"Pushpak Jagtap\"]","published":"2025-10-29T15:05:40Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"cs.RO\"]","methods":"[]","has_code":false}