Related papers: On the Self-stabilization of Mobile Robots in Grap…

Given a finite set of local constraints, we seek a cellular automaton (i.e., a local and uniform algorithm) that self-stabilises on the configurations that satisfy these constraints. More precisely, starting from a finite perturbation of a…

This thesis is concerned with distributed control and coordination of networks consisting of multiple, potentially mobile, agents. This is motivated mainly by the emergence of large scale networks characterized by the lack of centralized…

A stable population network is hard to interrupt without any ecological consequences. A communication blockage between patches may destabilize the populations in the ecological network. This work deals with the construction of a safe cut…

In this paper we tackle the problem of routing multiple agents in a coordinated manner. This is a complex problem that has a wide range of applications in fleet management to achieve a common goal, such as mapping from a swarm of robots and…

The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…

Distributed peer-to-peer systems are widely popular due to their decentralized nature, which ensures that no peer is critical for the functionality of the system. However, fully decentralized solutions are usually much harder to design, and…

This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…

Most traffic flow control algorithms address switching cycle adaptation of traffic signals and lights. This work addresses traffic flow optimisation by self-organising micro-level control combining Reinforcement Learning and rule-based…

In distributed networks, it is often useful for the nodes to be aware of dense subgraphs, e.g., such a dense subgraph could reveal dense subtructures in otherwise sparse graphs (e.g. the World Wide Web or social networks); these might…

The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…

Vector clock algorithms are basic wait-free building blocks that facilitate causal ordering of events. As wait-free algorithms, they are guaranteed to complete their operations within a finite number of steps. Stabilizing algorithms allow…

We present a self-stabilizing algorithm for the (asynchronous) unison problem which achieves an efficient trade-off between time, workload, and space in a weak model. Precisely, our algorithm is defined in the atomic-state model and works…

Multi-agent learning has gained increasing attention to tackle distributed machine learning scenarios under constrictions of data exchanging. However, existing multi-agent learning models usually consider data fusion under fixed and…

In this work we consider a generalization of the well-known multivehicle routing problem: given a network, a set of agents occupying a subset of its nodes, and a set of tasks, we seek a minimum cost sequence of movements subject to the…

This paper addresses analytical aspects of deterministic, continuous-time dynamical systems defined on networks. The goal is to model and analyze certain phenomena which must be framed beyond the context of networked dynamical systems,…

This paper studies the problem of modeling multi-agent dynamical systems, where agents could interact mutually to influence their behaviors. Recent research predominantly uses geometric graphs to depict these mutual interactions, which are…

This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…

In this article, we focus on extending the notion of lattice linearity to self-stabilizing programs. Lattice linearity allows a node to execute its actions with old information about the state of other nodes and still preserve correctness.…

Developing safe human-robot interaction systems is a necessary step towards the widespread integration of autonomous agents in society. A key component of such systems is the ability to reason about the many potential futures (e.g.…

We propose a method, based on empirical game theory, for a robot operating as part of a team to choose its role within the team without explicitly communicating with team members, by leveraging its knowledge about the team structure. To do…