Related papers: Constrained Distributed Algebraic Connectivity Max…
We show that a network can self-organize its structure in a completely distributed manner in order to optimize its synchronizability whilst satisfying the local constraints: non-negativity of edge weights, and maximum weighted degree of…
This paper studies the relation between node deletion and algebraic connectivity for graphs with a hierarchical structure represented by layers. To capture this structure, the concepts of layered path graph and its (sub)graph cone are…
In this paper, we study distributed stochastic optimization to minimize a sum of smooth and strongly-convex local cost functions over a network of agents, communicating over a strongly-connected graph. Assuming that each agent has access to…
The second smallest eigenvalue of the Laplacian matrix is determinative in characterizing many network properties and is known as algebraic connectivity. In this paper, we investigate the problem of maximizing algebraic connectivity in…
This paper addresses a distributed optimization problem in a communication network where nodes are active sporadically. Each active node applies some learning method to control its action to maximize the global utility function, which is…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
We propose a regularized saddle-point algorithm for convex networked optimization problems with resource allocation constraints. Standard distributed gradient methods suffer from slow convergence and require excessive communication when…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
Motivated by distributed statistical learning over uncertain communication networks, we study distributed stochastic optimization by networked nodes to cooperatively minimize a sum of convex cost functions. The network is modeled by a…
The dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of the graph. This…
Different from most existing distributed localization approaches in static networks where the agents in a network are static, this paper addresses the distributed localization problem in dynamic networks where the positions of the agents…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
This paper addresses the optimization of edge-weighted networks by maximizing algebraic connectivity to enhance network robustness. Motivated by the need for precise robot position estimation in cooperative localization and pose-graph…
This paper considers the problem of decentralized submodular maximization subject to partition matroid constraint using a sequential greedy algorithm with probabilistic inter-agent message-passing. We propose a communication-aware framework…
We show that a distributed network of robots or other devices which make measurements of each other can collaborate to globally localise via efficient ad-hoc peer to peer communication. Our Robot Web solution is based on Gaussian Belief…
In this paper we propose a distributed algorithm for the estimation and control of the connectivity of ad-hoc networks in the presence of a random topology. First, given a generic random graph, we introduce a novel stochastic power…
We study stochastic graph optimization problems in a novel distributed setting. As in the standard centralized setting, a random subgraph $G^*$ of a known base graph $G$ is realized by including each edge $e$ independently with a known…
We consider the problem of decentralized optimization where a collection of agents, each having access to a local cost function, communicate over a time-varying directed network and aim to minimize the sum of those functions. In practice,…
We consider a problem of robotic router placement and mobility control with the objective of formation and maintenance of an optimal communication network between a set of transmitter-receiver pairs. In this scenario, the communication path…
We develop distributed algorithms to allocate resources in multi-hop wireless networks with the aim of minimizing total cost. In order to observe the fundamental duplexing constraint that co-located transmitters and receivers cannot operate…