Related papers: Deterministic Symmetry Breaking in Ring Networks
In this paper, we study discrete evacuation in networks, where agents know the network topology and designated exit nodes but do not know the number and initial positions of other agents. Each agent initially occupies a distinct node and…
In this paper we propose and analyze a distributed algorithm for achieving globally optimal decisions, either estimation or detection, through a self-synchronization mechanism among linearly coupled integrators initialized with local…
We study distributed (strongly convex) optimization problems over a network of agents, with no centralized nodes. The loss functions of the agents are assumed to be \textit{similar}, due to statistical data similarity or otherwise. In order…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
We study a decentralized dispatch coordination problem in a multi-agent supply chain setting with shared logistics capacity. We propose symmetric (identical) dispatch strategies for all agents, enabling efficient coordination without…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
We consider the problem where an agent wants to find a hidden object that is randomly located in some vertex of a directed acyclic graph (DAG) according to a fixed but possibly unknown distribution. The agent can only examine vertices whose…
We consider the problem of forming a distributed queue in the adversarial dynamic network model of Kuhn, Lynch, and Oshman (STOC 2010) in which the network topology changes from round to round but the network stays connected. This is a…
We introduce the concept of continuous transportation task to the context of multi-agent systems. A continuous transportation task is one in which a multi-agent team visits a number of fixed locations, picks up objects, and delivers them to…
We consider the problem of locating a facility on a network, represented by a graph. A set of strategic agents have different ideal locations for the facility; the cost of an agent is the distance between its ideal location and the…
Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. Such deadlocks frequently occur when multiple agents attempt to traverse…
This paper introduces a multi-round interaction problem with privacy constraints between two agents that observe correlated data. The agents alternately share data with one another for a total of K rounds such that each agent initiates…
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…
A group of mobile agents is given a task to explore an edge-weighted graph $G$, i.e., every vertex of $G$ has to be visited by at least one agent. There is no centralized unit to coordinate their actions, but they can freely communicate…
This paper addresses the estimation of a time- varying parameter in a network. A group of agents sequentially receive noisy signals about the parameter (or moving target), which does not follow any particular dynamics. The parameter is not…
Autonomous exploration is an application of growing importance in robotics. A promising strategy is ergodic trajectory planning, whereby an agent spends in each area a fraction of time which is proportional to its probability information…
We investigate crossing path probabilities for two agents that move randomly in a bounded region of the plane or on a sphere (denoted $R$). At each discrete time-step the agents move, independently, fixed distances $d_1$ and $d_2$ at angles…
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…
Robots with lights is a model of autonomous mobile computational entities operating in the plane in Look-Compute-Move cycles: each agent has an externally visible light which can assume colors from a fixed set; the lights are persistent…
We study the dispersion problem in anonymous port-labeled graphs: $k \leq n$ mobile agents, each with a unique ID and initially located arbitrarily on the nodes of an $n$-node graph with maximum degree $\Delta$, must autonomously relocate…