arXiv subjects

Quanyi Liang

Publications and source records attributed to Quanyi Liang.

5 recordsLinked to original sources

arXiv2026

Autonomous Synchronization of Discrete-Time Heterogeneous Multiagent Systems

This paper investigates the autonomous synchronization problem for discrete-time heterogeneous multiagent systems. The synchronization problem is transformed into the asymptotic decoupling problem of stable modes in a class of discrete-time linear time-varying systems, for which we provide a sufficient condition. Leveraging this condition, synchronization conditions are established. The synchronization conditions are based on the average of the agents' initial dynamic matrices, without requiring the differences among these matrices to be small. This approach reduces the conservativeness of existing conditions and achieves a unification of both homogeneous and heterogeneous systems. Numerical simulation results are provided to support the theoretical findings.

cs.MA↗

arXiv2025

MSACL: Multi-Step Actor-Critic Learning with Lyapunov Certificates for Exponentially Stabilizing Control

For stabilizing control tasks, model-free reinforcement learning (RL) approaches face numerous challenges, particularly regarding the issues of effectiveness and efficiency in complex high-dimensional environments with limited training data. To address these challenges, we propose Multi-Step Actor-Critic Learning with Lyapunov Certificates (MSACL), a novel approach that integrates exponential stability into off-policy maximum entropy reinforcement learning (MERL). In contrast to existing RL-based approaches that depend on elaborate reward engineering and single-step constraints, MSACL adopts intuitive reward design and exploits multi-step samples to enable exploratory actor-critic learning. Specifically, we first introduce Exponential Stability Labels (ESLs) to categorize training samples and propose a $\lambda$-weighted aggregation mechanism to learn Lyapunov certificates. Based on these certificates, we further design a stability-aware advantage function to guide policy optimization, thereby promoting rapid Lyapunov descent and robust state convergence. We evaluate MSACL across six benchmarks, comprising four stabilizing and two high-dimensional tracking tasks. Experimental results demonstrate its consistent performance improvements over both standard RL baselines and state-of-the-art Lyapunov-based RL algorithms. Beyond rapid convergence, MSACL exhibits robustness against environmental uncertainties and generalization to unseen reference signals. The source code and benchmarking environments are available at \href{https://github.com/YuanZhe-Xing/MSACL}{https://github.com/YuanZhe-Xing/MSACL}.

cs.LG↗

arXiv2025

Explaining human cooperation through a dual mechanism of individual and social learning

Cooperation on social networks is crucial for understanding human survival and development. Although network structure has been found to significantly influence cooperation, human experiments have observed different cooperation phenomena under similar conditions. While evidence suggests that these differences arise from human exploration, our understanding of its impact mechanisms and characteristics remains limited. Here, we seek to formalize human exploration as an individual learning process involving trial and reflection, and integrate social learning to examine how their interdependence shapes cooperation. We find that individual learning can alter neighbor imitation tendencies, and the resulting shifts in the local cooperative environment feed back into the experiential cognition that guides individual learning. This coupled dynamic makes the ability of social networks to promote cooperation largely dependent on whether individuals focus on long-term payoffs, and exhibits a series of characteristics that can explain previously unexplained and seemingly contradictory cooperation phenomena. Surprisingly, individual learning can promote cooperation more than social learning when its probability is negatively correlated with payoffs, a mechanism rooted in the psychological tendency to avoid trial-and-error when individuals are satisfied with their current payoffs. These results explain the contradictory cooperation phenomenon by accounting for decision preferences and cognitive processes underlying exploration, bridging the gap between theoretical research and reality.

physics.soc-ph↗

arXiv2025

Navigating Robot Swarm Through a Virtual Tube with Flow-Adaptive Distribution Control

With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions with obstacles, the concept of virtual tubes has been introduced to define safe and navigable regions. However, current control methods in virtual tubes face the congestion issues, particularly in narrow ones with low throughput. To address these challenges, we first propose a novel control method that combines a modified artificial potential field (APF) for swarm navigation and density feedback control for distribution regulation. Then we generate a global velocity field that not only ensures collision-free navigation but also achieves locally input-to-state stability (LISS) for density tracking. Finally, numerical simulations and realistic applications validate the effectiveness and advantages of the proposed method in navigating robot swarms through narrow virtual tubes.

cs.RO↗

arXiv2024

Urban traffic resilience control -- An ecological resilience perspective

Urban traffic resilience has gained increased attention, with most studies adopting an engineering perspective that assumes a single optimal equilibrium and prioritizes local recovery. On the other hand, systems may possess multiple metastable states, and ecological resilience is the ability to switch between these states according to perturbations. Control strategies from these two resilience perspectives yield distinct outcomes. In fact, ecological resilience oriented control has rarely been viewed in urban traffic, despite the fact that traffic system is a complex system in highly uncertain environment with possible multiple metastable states. This absence highlights the necessity for urban traffic ecological resilience definition. To bridge this gap, we defines urban traffic ecological resilience as the ability to absorb uncertain perturbations by shifting to alternative states. The goal is to generate a system with greater adaptability, without necessarily returning to the original equilibrium. Our control framework comprises three aspects: portraying the recoverable scopes; designing alternative steady states; and controlling system to shift to alternative steady states for adapting large disturbances. Among them, the recoverable scopes are portrayed by attraction region; the alternative steady states are set close to the optimal state and outside the attraction region of the original equilibrium; the controller needs to ensure the local stability of the alternative steady states, without changing the trajectories inside the attraction region of the original equilibrium. Comparisons with classical engineering resilience oriented urban traffic resilience control schemes show that, proposed ecological resilience oriented control schemes can generate greater resilience. These results will contribute to the fundamental theory of future resilient intelligent transportation system.

nlin.AO↗