Related papers: Localization in mobile networks via virtual convex…
For a given point set $S$ in a plane, we develop a distributed algorithm to compute the $\alpha-$shape of $S$. $\alpha-$shapes are well known geometric objects which generalize the idea of a convex hull, and provide a good definition for…
Distributed aggregative optimization methods are gaining increased traction due to their ability to address cooperative control and optimization problems, where the objective function of each agent depends not only on its own decision…
Efficient resource allocation and scheduling algorithms are essential for various distributed applications, ranging from wireless networks and cloud computing platforms to autonomous multi-agent systems and swarm robotic networks. However,…
We propose a novel scheme for surveillance of a dynamic ground convoy moving along a non-linear trajectory, by aerial agents that maintain a uniformly spaced formation on a time-varying elliptical orbit encompassing the convoy. Elliptical…
In this paper, we investigate the distributed shortest distance optimization problem for a multi-agent network to cooperatively minimize the sum of the quadratic distances from some convex sets, where each set is only associated with one…
We propose a novel distributed expectation maximization (EM) method for non-cooperative RF device localization using a wireless sensor network. We consider the scenario where few or no sensors receive line-of-sight signals from the target.…
This work addresses the distributed estimation problem in a set membership framework. The agents of a network collect measurements which are affected by bounded errors, thus implying that the unknown parameters to be estimated belong to a…
This paper addresses a distributed nonconvex optimization problem over multi-agent networks, where each agent exchanges its local information solely with its neighbors. Given that most existing distributed nonconvex optimization algorithms…
Localization is the problem of estimating the location of an autonomous agent from an observation and a map of the environment. Traditional methods of localization, which filter the belief based on the observations, are sub-optimal in the…
We consider a network of agents that locate themselves in an environment through sensor measurements and aim to transmit a message signal to a base station via collaborative beamforming. The agents' sensor measurements result in…
Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of…
We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…
This paper presents a decentralized algorithm for a team of agents to track time-varying fixed points that are the solutions to time-varying convex optimization problems. The algorithm is first-order, and it allows for total asynchrony in…
Multi-Agent Path Finding (MAPF) is essential to large-scale robotic systems. Recent methods have applied reinforcement learning (RL) to learn decentralized polices in partially observable environments. A fundamental challenge of obtaining…
In this paper, containment control of multi-agent systems with measurement noises is studied under directed networks. When the leaders are stationary, a stochastic approximation type protocol is employed to solve the containment control of…
In large-scale systems there are fundamental challenges when centralised techniques are used for task allocation. The number of interactions is limited by resource constraints such as on computation, storage, and network communication. We…
In this paper we discuss a classical geometrical problem of estimating an unknown point's location in $\Real{n}$ from several noisy measurements of the Euclidean distances from this point to a set of known reference points (anchors). We…
This report surveys results on distributed systems comprising mobile agents that are identical and anonymous, oblivious and interact solely by adjusting their motion according to the relative location of their neighbours. The agents are…
This paper addresses the distributed localization problem for a network of sensors placed in a three-dimensional space, in which sensors are able to perform range measurements, i.e., measure the relative distance between them, and exchange…
We propose a method for analyzing the distributed random coordinate descent algorithm for solving separable resource allocation problems in the context of an open multiagent system, where agents can be replaced during the process. In…