Related papers: Gossip Coverage Control for Robotic Networks: Dyna…
We introduce a new problem in the domain of mobile robots, which we term dispersion. In this problem, $n$ robots are placed in an $n$ node graph arbitrarily and must coordinate with each other to reach a final configuration such that…
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 that are capable of…
This paper proposes a formal model for a network of robotic agents that move and communicate. Building on concepts from distributed computation, robotics and control theory, we define notions of robotic network, control and communication…
We propose a distributed control algorithm for a multi-agent network whose agents deploy over a cluttered region in accordance with a time-varying coverage density function while avoiding collisions with all obstacles they encounter. Our…
We consider a community detection problem for gossip dynamics with stubborn agents in this paper. It is assumed that the communication probability matrix for agent pairs has a block structure. More specifically, we assume that the network…
Distributed dynamic gossip is a generalization of the classic telephone problem in which agents communicate to share secrets, with the additional twist that also telephone numbers are exchanged to determine who can call whom. Recent work…
In this paper we study the time delays affecting the diffusion of information in an underwater heterogeneous robot swarm, considering a time-sensitive environment. In many situations each member of the swarm must update its knowledge about…
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…
Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…
Large-scale agentic systems run on distributed infrastructures where many software agents share physical hosts and are discovered via peer-to-peer mechanisms. Discovery must handle node-level churn from failures and host departures and…
In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are…
This paper studies reliability of probabilistic neighbor-aware gossip algorithms over three well- known large-scale random topologies, namely Bernoulli (or Erd\H{o}s-R\'enyi) graph, the random geometric graph, and the scale-free graph. We…
Consider a network of agents connected by communication links, where each agent holds a real value. The gossip problem consists in estimating the average of the values diffused in the network in a distributed manner. We develop a method…
A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…
Distributed deep learning is an effective way to reduce the training time of deep learning for large datasets as well as complex models. However, the limited scalability caused by network overheads makes it difficult to synchronize the…
Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…