Related papers: Gossip Coverage Control for Robotic Networks: Dyna…
This paper investigates the problem of distributed network-wide averaging and proposes a new greedy gossip algorithm. Instead of finding the optimal path of each node in a greedy manner, the proposed approach utilises a suboptimal…
In this paper we present various distributed algorithms for LP-type problems in the well-known gossip model. LP-type problems include many important classes of problems such as (integer) linear programming, geometric problems like smallest…
This article examines the problem of area coverage for a network of mobile robots with imprecise agent localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based…
In this work, we analyze \textit{stochastic coverage schemes} (SCS) for robotic swarms in which the robots randomly attach to a one-dimensional boundary of interest using local communication and sensing, without relying on global position…
In large unknown environments, search operations can be much more time-efficient with the use of multi-robot fleets by parallelizing efforts. This means robots must efficiently perform collaborative mapping (exploration) while…
As decentralized AI and edge intelligence become increasingly prevalent, ensuring robustness and trustworthiness in such distributed settings has become a critical issue-especially in the presence of corrupted or adversarial data.…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
In many applications, nodes in a network desire not only a consensus, but an optimal one. To date, a family of subgradient algorithms have been proposed to solve this problem under general convexity assumptions. This paper shows that, for…
This paper discusses dynamical systems for disk-covering and sphere-packing problems. We present facility location functions from geometric optimization and characterize their differentiable properties. We design and analyze a collection of…
The dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of the graph. This…
This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to…
Smooth coordination within a swarm robotic system is essential for the effective execution of collective robot missions. Having efficient communication is key to the successful coordination of swarm robots. This paper proposes a new…
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…
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
Motivated by the increasing appeal of robots in information-gathering missions, we study multi-agent path planning problems in which the agents must remain interconnected. We model an area by a topological graph specifying the movement and…
Relational networks within a team play a critical role in the performance of many real-world multi-robot systems. To successfully accomplish tasks that require cooperation and coordination, different agents (e.g., robots) necessitate…
Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…
Mobile networks receive increasing research interest recently due to their increasingly wide applications in various areas; mobile ad hoc networks (MANET) and Vehicular ad hoc networks (VANET) are two prominent examples. Mobility introduces…
A gossip protocol is a procedure for spreading secrets among a group of agents, using a connection graph. The goal is for all agents to get to know all secrets, in which case we call the execution of the protocol successful. We consider…