Related papers: Information and Multi-Sensor Coordination
This paper discusses elements of a control theory of systems comprised of networks of simple agents that collectively achieve sensing and actuation goals despite having strictly limited capability when acting alone. The goal is to…
Most AI systems today are designed to manage tasks and execute predefined steps. This makes them effective for process coordination but limited in their ability to engage in joint problem-solving with humans or contribute new ideas. We…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to achieve consensus. We investigate the distributed adaptive…
Our hypothesis is that by equipping certain agents in a multi-agent system controlling an intelligent building with automated decision support, two important factors will be increased. The first is energy saving in the building. The second…
The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…
Collective decision-making is an essential capability of large-scale multi-robot systems to establish autonomy on the swarm level. A large portion of literature on collective decision-making in swarm robotics focuses on discrete decisions…
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…
We consider the problem of information fusion from multiple sensors of different types with the objective of improving the confidence of inference tasks, such as object classification, performed from the data collected by the sensors. We…
Active-passive multiagent systems consist of agents subject to inputs (active agents) and agents with no inputs (passive agents), where active and passive agent roles are considered to be interchangeable in order to capture a wide array of…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new…
Tracking multiple targets in dynamic environments using distributed sensor networks is a fundamental problem in statistical signal processing. In such scenarios, the network of mobile sensors must coordinate their actions to accurately…
Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payload. When the MAS has to deal with active obstacles in a…
In this work, we investigate direction finding in the presence of sensor gain uncertainties and directional perturbations for sensor array processing in a multi-frequency scenario. Specifically, we adopt a distributed optimization scheme in…
This article provides an introduction to event-triggered coordination for multi-agent average consensus. We provide a comprehensive account of the motivations behind the use of event-triggered strategies for consensus, the methods for…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
The distributed optimal output consensus problem for high-order multi-agent systems has been studied recently. In this paper, we further focus on the same problem for high-order multi-agent systems subject to parametric uncertainties and…
This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…
The development of collective-aware multi-robot systems is crucial for enhancing the efficiency and robustness of robotic applications in multiple fields. These systems enable collaboration, coordination, and resource sharing among robots,…