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We consider the setting of agents cooperatively minimizing the sum of local objectives plus a regularizer on a graph. This paper proposes a primal-dual method in consideration of three distinctive attributes of real-life multi-agent…
This paper studies distributed resource allocation problem in multi-agent systems, where all the agents cooperatively minimize the sum of their cost functions with global resource constraints over stochastic communication networks. This…
We introduce the concept of continuous transportation task to the context of multi-agent systems. A continuous transportation task is one in which a multi-agent team visits a number of fixed locations, picks up objects, and delivers them to…
Fifth generation~(5G) networks providing much higher bandwidth and faster data rates will allow connecting vast number of static and mobile devices, sensors, agents, users, machines, and vehicles, supporting Internet-of-Things (IoT),…
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
Wireless Ad-hoc network is generally employed in military and emergencies due to its flexibility and easy-to-use. It's suitable for military wireless network that has the characteristics of mobility and works effectively under severe…
This paper considers a distributed multi-agent optimization problem, with the global objective consisting of the sum of local objective functions of the agents. The agents solve the optimization problem using local computation and…
In this paper, we propose an ad-hoc on-demand distance vector routing algorithm for mobile ad-hoc networks taking into account node mobility. Changeable topology of such mobile ad-hoc networks provokes overhead messages in order to search…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
Mobile Ad Hoc networks (MANET), distinct from traditional distributed systems, are dynamic and self-organizing networks. MANET requires a leader to coordinate and organize tasks. The challenge is to have the right election algorithm that…
In this paper the problem of information dissemination in Mobile Ad-hoc Networks (MANET) is studied. The problem is to disseminate a piece of information, initially held by a distinguished source node, to all nodes in a set defined by some…
This paper presents a machine learning strategy that tackles a distributed optimization task in a wireless network with an arbitrary number of randomly interconnected nodes. Individual nodes decide their optimal states with distributed…
This paper introduces a novel concept from coalitional game theory which allows the dynamic formation of coalitions among wireless nodes. A simple and distributed merge and split algorithm for coalition formation is constructed. This…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
The various routing protocols in Mobile Ad hoc Networks follow different strategies to send the information from one node to another. The nodes in the network are non static and they move randomly and are prone to link failure which makes…
In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…
The most widely applied strategy for workload sharing is to equalize the workload assigned to each resource. In mobile multi-agent systems, this principle directly leads to equitable partitioning policies in which (i) the workspace is…
Opportunistic networks are delay-tolerant networks which enable network connectivity while there is limited access to network infrastructure, such as natural disaster happenings. Since opportunistic networks use store-carry-forward…
This paper studies the problem of increasing the connectivity of an ad-hoc peer-to-peer network subject to cyber-attacks targeting the agents in the network. The adopted strategy involves the design of local interaction rules for the agents…
This paper re-visits a multi-agent deployment problem where agents are restricted from requesting information from other agents as well as sending acknowledgments when information is received. These communication constraints relax the…