Related papers: Spectral Control of Mobile Robot Networks

Dynamical properties of complex networks are related to the spectral properties of the Laplacian matrix that describes the pattern of connectivity of the network. In particular we compute the synchronization time for different types of…

The spectrum of the nonbacktracking matrix associated to a network is known to contain fundamental information regarding percolation properties of the network. Indeed, the inverse of its leading eigenvalue is often used as an estimate for…

Stochastic network influences complicate graph filter design by producing uncertainty in network iteration matrix eigenvalues, the points at which the graph filter response is defined. While joint statistics for the eigenvalues typically…

This paper proposes a novel model-based policy gradient algorithm for tracking dynamic targets using a mobile robot, equipped with an onboard sensor with limited field of view. The task is to obtain a continuous control policy for the…

Isospectral reduction is an important tool for network/matrix analysis as it reduces the dimension of a matrix/network while preserving its eigenvalues and eigenvectors. The main contribution of this manuscript is a proposed algorithmic…

We derive a message passing method for computing the spectra of locally tree-like networks and an approximation to it that allows us to compute closed-form expressions or fast numerical approximates for the spectral density of random graphs…

We introduce a new random matrix model called distance covariance matrix in this paper, whose normalized trace is equivalent to the distance covariance. We first derive a deterministic limit for the eigenvalue distribution of the distance…

Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…

This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…

In this paper, we propose a novel architecture and a self-supervised policy gradient algorithm, which employs unsupervised auxiliary tasks to enable a mobile robot to learn how to navigate to a given goal. The dependency on the global…

Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…

This paper focuses on the broadcast of information on robot networks with stochastic network interconnection topologies. Problematic communication networks are almost unavoidable in areas where we wish to deploy multi-robotic systems,…

Eigenvectors of matrices on a network have been used for understanding spectral clustering and influence of a vertex. For matrices with small geodesic-width, we propose a distributed iterative algorithm in this letter to find eigenvectors…

This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper…

We study the dynamics of the entanglement spectrum, that is the time evolution of the eigenvalues of the reduced density matrices after a bipartition of a one-dimensional spin chain. Starting from the ground state of an initial Hamiltonian,…

Temporal networks are a class of time-varying networks, which change their topology according to a given time-ordered sequence of static networks (known as subsystems). This paper investigates the reachability and controllability of…

In this paper, we investigate the problem of fast spectrum sharing in vehicle-to-everything communication. In order to improve the spectrum efficiency of the whole system, the spectrum of vehicle-to-infrastructure links is reused by…

The spectral properties of the adjacency matrix, in particular its largest eigenvalue and the associated principal eigenvector, dominate many structural and dynamical properties of complex networks. Here we focus on the localization…

Using Random Matrix Theory one can derive exact relations between the eigenvalue spectrum of the covariance matrix and the eigenvalue spectrum of its estimator (experimentally measured correlation matrix). These relations will be used to…

Extensive research on graph-based dynamics and control of multi-agent systems has successfully demonstrated control of robotic swarms, where each robot is perceived as an independent agent virtually connected by a network topology. The…