Related papers: Distributed consensus on minimum time rendezvous v…
We propose a simple, projection-based algorithm for clustering mixtures of discrete (Bernoulli) distributions. Unlike previous approaches that rely on coordinate-specific ``combinatorial projections,'' our algorithm is rotationally…
We present distributed algorithms that can be used by multiple agents to align their estimates with a particular value over a network with time-varying connectivity. Our framework is general in that this value can represent a consensus…
We develop two new proximal alternating penalty algorithms to solve a wide range class of constrained convex optimization problems. Our approach mainly relies on a novel combination of the classical quadratic penalty, alternating…
We investigate convergence of alternating Bregman projections between non-convex sets and prove convergence to a point in the intersection, or to points realizing a gap between the two sets. The speed of convergence is generally sub-linear,…
This paper introduces a novel algorithm for multiagent offline trajectory generation based on distributed model predictive control. Central to the algorithm's scalability and success is the development of an on-demand collision avoidance…
In this work, we aim to compare different methods and formulations to solve a problem in air traffic management to global optimality. In particular, we focus on the aircraft deconfliction problem, where we are given n aircraft, their…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
We study a combinatorial problem inspired by the following scenario: fully autonomous vehicles drive on a multi-lane ($m \geq 2$) road. Each vehicle heads to its own destination and is allowed to exit the road only through a single…
The problem of finding a vector with the fewest nonzero elements that satisfies an underdetermined system of linear equations is an NP-complete problem that is typically solved numerically via convex heuristics or nicely-behaved nonconvex…
In this article, we present an approximation algorithm for solving the Weighted Region Problem amidst a set of $ n $ non-overlapping weighted disks in the plane. For a given parameter $ \varepsilon \in (0,1]$, the length of the approximate…
Alternating projections and their variants are classical tools for computing points in intersections of sets. Existing analyses for smooth manifolds mainly focus on local convergence rates under transversality or related regularity…
In the Minimum Clique Routing Problem on Cycles \textsc{MCRPC} we are given a cycle together with a set of demands (weighted origin-destination pairs) and the goal is to route all the pairs minimizing the maximum weighted clique of the…
We consider the robust multi-dimensional scaling (RMDS) problem in this paper. The goal is to localize point locations from pairwise distances that may be corrupted by outliers. Inspired by classic MDS theories, and nonconvex works for the…
We present a new algorithm, which solves the problem of distributively finding a minimum diameter spanning tree of any (non-negatively) real-weighted graph $G = (V,E,\omega)$. As an intermediate step, we use a new, fast, linear-time…
By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-agent path planning method. We have identified a particular…
This paper considers a conceptual version of a convex optimization algorithm whic is based on replacing a convex optimization problem with the root-finding problem for the approximate sub-differential mapping which is solved by repeated…
In route selection problems, the driver's personal preferences will determine whether she prefers a route with a travel time that has a relatively low mean and high variance over one that has relatively high mean and low variance. In…
This paper presents a solution to the rendezvous control problem for a network of kinematic unicycles in the plane, each equipped with an onboard camera measuring its relative displacement with respect to its neighbors in body frame…