Related papers: Gossip Coverage Control for Robotic Networks: Dyna…
A team of mobile agents, starting from different nodes of an unknown network, possibly at different times, have to meet at the same node and declare that they have all met. Agents have different labels and move in synchronous rounds along…
Peer to peer (P2P) systems are moving from application specific architectures to a generic service oriented design philosophy. This raises interesting problems in connection with providing useful P2P middleware services capable of dealing…
Voronoi coverage control is a particular problem of importance in the area of multi-robot systems, which considers a network of multiple autonomous robots, tasked with optimally covering a large area. This is a common task for fleets of…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
This paper considers the average consensus problem on a network of digital links, and proposes a set of algorithms based on pairwise ''gossip'' communications and updates. We study the convergence properties of such algorithms with the goal…
This paper addresses the coverage control problem of multi-agent systems in the uncertain environment. With the aid of Voronoi partition, a distributed coverage control formulation of multi-agent system is proposed to complete the workload…
Information dissemination is a fundamental problem in parallel and distributed computing. In its simplest variant, the broadcasting problem, a message has to be spread among all nodes of a graph. A prominent communication protocol for this…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
In the dispersion problem, a set of $k$ co-located mobile robots must relocate themselves in distinct nodes of an unknown network. The network is modeled as an anonymous graph $G=(V,E)$, where the nodes of the graph are not labeled. The…
This article examines the area coverage problem for a network of mobile robots with imprecise agents' localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based…
Gossipping has demonstrate to be an efficient mechanism for spreading information among P2P networks. Within the context of P2P computing, we propose the so-called Evolvable Agent Model for distributed population-based algorithms which uses…
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure…
In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing…
In this work we present an algorithm for covering continuous connected domains by ant-like robots with very limited capabilities. The robots can mark visited places with pheromone marks and sense the level of the pheromone in their local…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper we propose two…
The influence of node mobility on the convergence time of averaging gossip algorithms in networks is studied. It is shown that a small number of fully mobile nodes can yield a significant decrease in convergence time. A method is developed…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
We study time-dependent dynamics on a network of order lattices, where structure-preserving lattice maps are used to fuse lattice-valued data over vertices and edges. The principal contribution is a novel asynchronous Laplacian,…
Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payload. When the MAS has to deal with active obstacles in a…