Related papers: How to meet asynchronously (almost) everywhere
We consider the problem of graph searching with prediction recently introduced by Banerjee et al. (2022). In this problem, an agent, starting at some vertex $r$ has to traverse a (potentially unknown) graph $G$ to find a hidden goal node…
Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…
This paper investigates the rendezvous problem for the autonomous cooperative landing of an unmanned aerial vehicle (UAV) on an unmanned surface vehicle (USV). Such heterogeneous agents, with nonlinear dynamics, are dynamically decoupled…
By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-agent path planning method. We have identified a particular…
Multi-Agent Path Finding (MAPF) is essential to large-scale robotic systems. Recent methods have applied reinforcement learning (RL) to learn decentralized polices in partially observable environments. A fundamental challenge of obtaining…
In this paper, we study temporal graphs arising from mobility models, where vertices correspond to agents moving in space and edges appear each time two agents meet. We propose a rather natural one-dimensional model. If each pair of agents…
We study a search problem on capturing a moving target on an infinite real line. Two autonomous mobile robots (which can move with a maximum speed of 1) are initially placed at the origin, while an oblivious moving target is initially…
Collaboration requires agents to align their goals on the fly. Underlying the human ability to align goals with other agents is their ability to predict the intentions of others and actively update their own plans. We propose hierarchical…
This papers studies multi-agent (convex and \emph{nonconvex}) optimization over static digraphs. We propose a general distributed \emph{asynchronous} algorithmic framework whereby i) agents can update their local variables as well as…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics that asks us to compute collision-free paths for a team of agents, all moving across a shared map. Although many works appear on this topic, all current algorithms…
This paper proposes an online path planning and motion generation algorithm for heterogeneous robot teams performing target search in a real-world environment. Path selection for each robot is optimized using an information-theoretic…
The game of rendezvous with adversaries is a game on a graph played by two players: Facilitator and Divider. Facilitator has two agents and Divider has a team of $k \ge 1$ agents. While the initial positions of Facilitator's agents are…
Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…
Several distributed algorithms are presented for the exploration of unknown indoor regions by a swarm of flying, energy constrained agents. The agents, which are identical, autonomous, anonymous and oblivious, uniformly cover the region and…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the…
We consider two mobile oblivious robots that evolve in a continuous Euclidean space. We require the two robots to solve the rendezvous problem (meeting in finite time at the same location, not known beforehand) despite the possibility that…
Active search, in applications like environment monitoring or disaster response missions, involves autonomous agents detecting targets in a search space using decision making algorithms that adapt to the history of their observations.…
We consider a new type of asymmetric rendezvous search problem in which Agent II needs to give Agent I a `gift' which can be in the form of information or material. The gift can either be transfered upon meeting, as in traditional…
This paper explores the application of quantum non-locality, a renowned and unique phenomenon acknowledged as a valuable resource. Focusing on a novel application, we demonstrate its quantum advantage for mobile agents engaged in specific…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…