Related papers: Localization in mobile networks via virtual convex…
In this paper, we focus on solving a distributed convex optimization problem in a network, where each agent has its own convex cost function and the goal is to minimize the sum of the agents' cost functions while obeying the network…
This paper considers the problem of detecting impaired and noisy nodes over network. In a distributed algorithm, lots of processing units are incorporating and communicating with each other to reach a global goal. Due to each one's state in…
We present an algorithm for the problem of linear distributed estimation of a parameter in a network where a set of agents are successively taking measurements. The approach considers a roaming token in a network that carries the estimate,…
This paper investigates the distributed continuous-time nonconvex optimization problem over unbalanced directed networks. The objective is to cooperatively drive all the agent states to an optimal solution that minimizes the sum of the…
We present a lightweight, decentralized algorithm for navigating multiple nonholonomic agents through challenging environments with narrow passages. Our key idea is to allow agents to yield to each other in large open areas instead of…
We consider the dispersion problem for mobile agents. Initially, k agents are located at arbitrary nodes in an undirected graph. Agents can migrate from node to node via an edge in the graph synchronously. Our goal is to let the k agents be…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
We consider discrete-time distributed averaging algorithms over multi-agent networks with measurement noises and time-varying random graph flows. Each agent updates its state by relative states between neighbours with both additive and…
This paper is devoted to distributed continuous-time and discrete-time optimization problems with nonuniform convex constraint sets and nonuniform stepsizes for general differentiable convex objective functions. The communication graphs are…
Object manipulation is a critical skill required for Embodied AI agents interacting with the world around them. Training agents to manipulate objects, poses many challenges. These include occlusion of the target object by the agent's arm,…
We study distributed composite optimization over networks: agents minimize a sum of smooth (strongly) convex functions, the agents' sum-utility, plus a nonsmooth (extended-valued) convex one. We propose a general unified algorithmic…
Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated…
Virtual fixtures assist human operators in teleoperation settings by constraining their actions. This extended abstract introduces a novel virtual fixture formulation \emph{on surfaces} for tactile robotics tasks. Unlike existing methods,…
We study the convex hull membership (CHM) problem in the pure exploration setting where one aims to efficiently and accurately determine if a given point lies in the convex hull of means of a finite set of distributions. We give a complete…
This note is devoted to the distributed optimization problem of multi-agent systems with nonconvex velocity constraints, nonuniform position constraints and nonuniform stepsizes. Two distributed constrained algorithms with nonconvex…
Localization is one of the most important factor in wireless sensor networks as many applications demand position information of sensors. Recently there is an increasing interest on the use of mobile anchors for localizing sensors. Most of…
A practical challenge which arises in the operation of sensor networks is the presence of sensor faults, biases, or adversarial attacks, which can lead to significant errors incurring in the localization of the agents, thereby undermining…
Several algorithms in prior literature have been proposed which guarantee consensus of normally behaving agents in a network that may contain adversarially behaving agents. These algorithms guarantee that the consensus value lies within the…
For a group of cooperating UAVs, localizing each other is often a key task. This paper studies the localization problem for a group of UAVs flying in 3D space with very limited information, i.e., when noisy distance measurements are the…
Determining multi-robot motion policies for persistently monitoring a region with limited sensing, communication, and localization constraints in non-GPS environments is a challenging problem. To take the localization constraints into…