Related papers: Communication-Free Distributed Coverage for Networ…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
The aim of this work is to develop a fully-distributed algorithmic framework for training graph convolutional networks (GCNs). The proposed method is able to exploit the meaningful relational structure of the input data, which are collected…
We introduce a simple time-triggered protocol to achieve communication-efficient non-Bayesian learning over a network. Specifically, we consider a scenario where a group of agents interact over a graph with the aim of discerning the true…
The dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of the graph. This…
We propose efficient distributed algorithms to aid navigation of a user through a geographic area covered by sensors. The sensors sense the level of danger at their locations and we use this information to find a safe path for the user…
It is always a challenging task for multi-agent systems to achieve efficient and robust coverage in uncertain environments. The absence of global positioning information on the uncertain environment introduces significant complexity to the…
The paper addresses large-scale, convex optimization problems that need to be solved in a distributed way by agents communicating according to a random time-varying graph. Specifically, the goal of the network is to minimize the sum of…
This paper proposes a distributed attack detection and mitigation technique based on distributed estimation over a multi-agent network, where the agents take partial system measurements susceptible to (possible) biasing attacks. In…
This paper proposes a scalable distributed policy gradient method and proves its convergence to near-optimal solution in multi-agent linear quadratic networked systems. The agents engage within a specified network under local communication…
Control of large-scale networked systems often necessitates the availability of complex models for the interactions amongst the agents. However in many applications, building accurate models of agents or interactions amongst them might be…
A k-order coverage control problem is studied where a network of agents must deploy over a desired area. The objective is to deploy all the agents in a decentralized manner such that a certain coverage performance metric of the network is…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…
The well-studied DISPERSION problem is a fundamental coordination problem in distributed robotics, where a set of mobile robots must relocate so that each occupies a distinct node of a network. DISPERSION assumes that a robot can settle at…
This paper considers the problem of autonomous multi-agent cooperative target search in an unknown environment using a decentralized framework under a no-communication scenario. The targets are considered as static targets and the agents…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
We consider the problem of classifying a map using a team of communicating robots. It is assumed that all robots have localized visual sensing capabilities and can exchange their information with neighboring robots. Using a graph…
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…
This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…
We initiate the study of deterministic distributed graph algorithms with predictions in synchronous message passing systems. The process at each node in the graph is given a prediction, which is some extra information about the problem…