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Multi-agent networked linear dynamic systems have attracted attention of researchers in power systems, intelligent transportation, and industrial automation. The agents might cooperatively optimize a global performance objective, resulting…
We consider the problem of collective exploration of a known $n$-node edge-weighted graph by $k$ mobile agents that have limited energy but are capable of energy transfers. The agents are initially placed at an arbitrary subset of nodes in…
Analyzing massive complex networks yields promising insights about our everyday lives. Building scalable algorithms to do so is a challenging task that requires a careful analysis and an extensive evaluation. However, engineering such…
This paper introduces a decentralized multi-agent reinforcement learning framework enabling structurally heterogeneous teams of agents to jointly discover and acquire randomly located targets in environments characterized by partial…
Handheld devices, while growing rapidly, are inherently constrained and lack the capability of executing resource hungry applications. This paper presents the design and implementation of distributed analysis and load-balancing system for…
This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…
We address the problem of distributed matching of features in networks with vision systems. Every camera in the network has limited communication capabilities and can only exchange local matches with its neighbors. We propose a distributed…
We study a target coverage problem in which a team of sensing agents, operating under limited communication, must collaboratively monitor targets that may be adaptively repositioned by an attacker. We model this interaction as a zero-sum…
In this paper, we study distributed graph algorithms in networks in which the nodes have a limited communication capacity. Many distributed systems are built on top of an underlying networking infrastructure, for example by using a virtual…
We propose a decentralized learning algorithm over a general social network. The algorithm leaves the training data distributed on the mobile devices while utilizing a peer to peer model aggregation method. The proposed algorithm allows…
In this paper, we propose a distributed algorithm to uniformly scatter the robots along a grid, with robots on alternate nodes of this grid distribution. These homogeneous, autonomous mobile robots place themselves equidistant apart on the…
In this paper, we consider the unconstrained distributed optimization problem, in which the exchange of information in the network is captured by a directed graph topology, thus, nodes can only communicate with their neighbors.…
This work is concerned with the problem of distributed resource allocation in continuous-time setting but with discrete-time communication over infinitely jointly connected and balanced digraphs. We provide a passivity-based perspective for…
Distributed parameter estimation for large-scale systems is an active research problem. The goal is to derive a distributed algorithm in which each agent obtains a local estimate of its own subset of the global parameter vector, based on…
This paper presents a distributed painting algorithm for painting a priori known rectangular region by swarm of autonomous mobile robots. We assume that the region is obstacle free and of rectangular in shape. The basic approach is to…
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,…
Grant-free transmission is considered as a promising technology to support sporadic data transmission in massive machine-type communications (mMTC). Due to the distributed manner, high collision probability is an inherent drawback of…
The present paper studies local distributed graph problems in highly dynamic networks. Communication and changes of the graph happen in synchronous rounds and our algorithms always, i.e., in every round, satisfy non-trivial guarantees, no…
In this paper we propose a distributed algorithm for the estimation and control of the connectivity of ad-hoc networks in the presence of a random topology. First, given a generic random graph, we introduce a novel stochastic power…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…