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Recently, a scalable approach to system analysis and controller synthesis for homogeneous multi-agent systems with Bernoulli distributed packet loss has been proposed. As a key result of that line of work, it was shown how to obtain upper…
In this paper, a distributed subgradient-based algorithm is proposed for continuous-time multi-agent systems to search a feasible solution to convex inequalities. The algorithm involves each agent achieving a state constrained by its own…
Visual planning methods are promising to handle complex settings where extracting the system state is challenging. However, none of the existing works tackles the case of multiple heterogeneous agents which are characterized by different…
Consider that there are $k\le n$ agents in a simple, connected, and undirected graph $G=(V,E)$ with $n$ nodes and $m$ edges. The goal of the dispersion problem is to move these $k$ agents to mutually distinct nodes. Agents can communicate…
This paper presents a distributed multi-layer ring barrier coverage algorithm. In order to achieve single-layer ring barrier coverage, a distributed single-layer ring barrier coverage algorithm that maximises the probability of monitoring…
This paper considers the task of performing binary search under noisy decisions, focusing on the application of target area localization. In the presence of noise, the classical partitioning approach of binary search is prone to error…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
We initiate the study of the heterogeneous facility location problem with limited resources. We mainly focus on the fundamental case where a set of agents are positioned in the line segment [0,1] and have approval preferences over two…
This article deals with the spatio-temporal sensors deployment in order to maximize detection probability of an intelligent and randomly moving target in an area under surveillance. Our work is based on the rare events simulation framework.…
This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…
Active search refers to the problem of efficiently locating targets in an unknown environment by actively making data-collection decisions, and has many applications including detecting gas leaks, radiation sources or human survivors of…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
Heterogeneous computing systems provide high performance and energy efficiency. However, to optimally utilize such systems, solutions that distribute the work across host CPUs and accelerating devices are needed. In this paper, we present a…
Multi-robot systems performing continuous tasks face a performance trade-off when interrupted by urgent, time-critical sub-tasks. We investigate this trade-off in a scenario where a team must balance area patrolling with locating an…
It has been shown that cooperative localization is capable of improving both the positioning accuracy and coverage in scenarios where the global positioning system (GPS) has a poor performance. However, due to its potentially excessive…
This paper investigates a robust positive consensus problem for a class of heterogeneous high-order multi-agent systems subject to external inputs. Compared with existing multi-agent consensus results, the most distinct feature of the…
We study localization and control for unstable systems under coarse, single-bit sensing. Motivated by understanding the fundamental limitations imposed by such minimal feedback, we identify sufficient conditions under which the initial…
This paper presents a cooperative multi-robot multi-target tracking framework aimed at enhancing the efficiency of the heterogeneous sensor network and, consequently, improving overall target tracking accuracy. The concept of normalized…
In this paper, we consider the problem of path finding for a set of homogeneous and autonomous agents navigating a previously unknown stochastic environment. In our problem setting, each agent attempts to maximize a given utility function…
The rapid deployment of wireless sensor network (WSN) poses the challenge of finding optimal locations for the network nodes, especially so in (i) unknown and (ii) obstacle-rich environments. This paper addresses this challenge with BISON…