Related papers: Pairwise Optimal Discrete Coverage Control for Gos…
Most current results on coverage control using mobile sensors require that one partitioned cell is associated with precisely one sensor. In this paper, we consider a class of coverage control problems involving higher order Voronoi…
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…
This paper develops a probabilistic anticipation algorithm for dynamic objects observed by an autonomous robot in an urban environment. Predictive Gaussian mixture models are used due to their ability to probabilistically capture continuous…
In this paper, we determine the optimal convergence rates for strongly convex and smooth distributed optimization in two settings: centralized and decentralized communications over a network. For centralized (i.e. master/slave) algorithms,…
The aim of the dispersion problem is to place a set of $k(\leq n)$ mobile robots in the nodes of an unknown graph consisting of $n$ nodes such that in the final configuration each node contains at most one robot, starting from any arbitrary…
Gossip algorithms for distributed computation are attractive due to their simplicity, distributed nature, and robustness in noisy and uncertain environments. However, using standard gossip algorithms can lead to a significant waste in…
We present and analyze methods for patrolling an environment with a distributed swarm of robots. Our approach uses a physical data structure - a distributed triangulation of the workspace. A large number of stationary "mapping" robots cover…
We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…
Reaching agreement despite noise in communication is a fundamental problem in multi-agent systems. Here we study this problem under an idealized model, where it is assumed that agents can sense the general tendency in the system. More…
We propose distributed algorithms for two well-established problems that operate efficiently under extremely harsh conditions. Our algorithms achieve state-of-the-art performance in a simple and novel way. Our algorithm for maximal…
The distributed coordination of robot teams performing complex tasks is challenging to formulate. The different aspects of a complete task such as local planning for obstacle avoidance, global goal coordination and collaborative mapping are…
In this paper, we consider distributed optimization design for resource allocation problems over weight-balanced graphs. With the help of singular perturbation analysis, we propose a simple sub-optimal continuous-time optimization…
In this paper, we investigate the problem of differentially private distributed optimization. Recognizing that lower sensitivity leads to higher accuracy, we analyze the key factors influencing the sensitivity of differentially private…
Partitioning large networks into stable clusters of synchronized nodes is a challenging task. Recent approaches based on spectral analysis can provide exact results on specific dynamics but remain unfeasible for very large networks.…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
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…
In this study, we propose an algorithm for computing the network size of communicating agents. The algorithm is distributed: a) it does not require a leader selection; b) it only requires local exchange of information, and; c) its design…
Patrolling with multiple robots offers efficient surveillance to detect and manage undesired situations. This necessitates improved patrol efficiency and operator situation awareness at base stations. Enhanced situation awareness enables…
This paper presents a novel meta algorithm, Partition-Merge (PM), which takes existing centralized algorithms for graph computation and makes them distributed and faster. In a nutshell, PM divides the graph into small subgraphs using our…
Line coverage is to cover linear infrastructure modeled as 1D segments by robots, which received attention in recent years. With the increasing urbanization, the area of the city and the density of infrastructure continues to increase,…