Related papers: A Parallel Distributed Strategy for Arraying a Sca…
Distributed resource allocation is a central task in network systems such as smart grids, water distribution networks, and urban transportation systems. When solving such problems in practice it is often important to have nonasymptotic…
Robotic shepherding is a bio-inspired approach to autonomously guiding a swarm of agents towards a desired location. The research area has earned increasing research interest recently due to the efficacy of controlling a large number of…
We introduce a new problem in the domain of mobile robots, which we term dispersion. In this problem, $n$ robots are placed in an $n$ node graph arbitrarily and must coordinate with each other to reach a final configuration such that…
We present a number of powerful local mechanisms for maintaining a dynamic swarm of robots with limited capabilities and information, in the presence of external forces and permanent node failures. We propose a set of local continuous…
Over the past few years, the use of swarms of Unmanned Aerial Vehicles (UAVs) in monitoring and remote area surveillance applications has become widespread thanks to the price reduction and the increased capabilities of drones. The drones…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
We present an approach to the distributed storage of data across a swarm of mobile robots that forms a shared global memory. We assume that external storage infrastructure is absent, and that each robot is capable of devoting a quota of…
This work develops a distributed optimization algorithm for multi-robot 3-D semantic mapping using streaming range and visual observations and single-hop communication. Our approach relies on gradient-based optimization of the observation…
The planning and control of a robot swarm in a complex environment have attracted increasing attention. To this end, the idea of virtual tubes has been taken up in our previous work. Specifically, a virtual tube with varying widths has been…
We study the complexity of finding communication trees with the lowest possible completion time for rooted, irregular gather and scatter collective communication operations in fully connected, $k$-ported communication networks under a…
The dispersion problem on graphs requires $k$ robots placed arbitrarily at the $n$ nodes of an anonymous graph, where $k \leq n$, to coordinate with each other to reach a final configuration in which each robot is at a distinct node of the…
The problem of near-optimal distributed path planning to locally sensed targets is investigated in the context of large swarms. The proposed algorithm uses only information that can be locally queried, and rigorous theoretical results on…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Consider a swarm of particles controlled by global inputs. This paper presents algorithms for shaping such swarms in 2D using boundary walls. The range of configurations created by conforming a swarm to a boundary wall is limited. We…
In this work, it is presented the development of a novel distributed algorithm performing robotic coverage, clustering and dispatch around an event in static-obstacle structured environments without relying on metric information.…
This paper studies distributed resource allocation problem in multi-agent systems, where all the agents cooperatively minimize the sum of their cost functions with global resource constraints over stochastic communication networks. This…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…
This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…