Related papers: Partial Gathering of Mobile Agents in Asynchronous…
A generalization of recent group-theoretic matrix multiplication algorithms to an analogue of the theory of partial matrix multiplication is presented. We demonstrate that the added flexibility of this approach can in some cases improve…
Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state is available or not, two distributed protocols are proposed to ensure…
In this work, we address a completely novel case which is the meeting problem of mobile nodes (players) in a wireless ad hoc network. We assume that the only information players have is the received signal strength (RSS) measurements of…
We present a method for solving service allocation problems in which a set of services must be allocated to a set of agents so as to maximize a global utility. The method is completely distributed so it can scale to any number of services…
Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…
This work deals with the problem of gathering $n$ oblivious mobile entities, called robots, at a point (not known beforehand) placed on an infinite triangular grid. The robots are considered to be myopic, i.e., robots have limited…
The problem of finding conflict-free trajectories for multiple agents of identical circular shape, operating in shared 2D workspace, is addressed in the paper and decoupled, e.g., prioritized, approach is used to solve this problem. Agents'…
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…
Open ad hoc teamwork is the problem of training a single agent to efficiently collaborate with an unknown group of teammates whose composition may change over time. A variable team composition creates challenges for the agent, such as the…
Maximum partial subgraph isomorphism compares two graphs (nodes joined by edges) to find a largest common subgraph. A common use case, for graphs with labeled nodes, seeks to find instances of a \textit{query} graph with $q$ nodes in a…
The Meeting problem for $k\geq 2$ searchers in a polygon $P$ (possibly with holes) consists in making the searchers move within $P$, according to a distributed algorithm, in such a way that at least two of them eventually come to see each…
We consider a scenario consisting of a set of heterogeneous mobile agents located at a depot, and a set of tasks dispersed over a geographic area. The agents are partitioned into different types. The tasks are partitioned into specialized…
Constrained submodular set function maximization problems often appear in multi-agent decision-making problems with a discrete feasible set. A prominent example is the problem of multi-agent mobile sensor placement over a discrete domain.…
This paper studies an optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, the consensus point is further required to an optimal solution to some…
In this paper, we plan missions for a fleet of agents in undirected graphs, such as grids, with multiple goals. In contrast to regular multi-agent path-finding, the solver finds and updates the assignment of goals to the agents on its own.…
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…
Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots…
In this work we consider the multi-agent motion planning (MAMP) problem with the constraint that agents arrive at their respective goals at the same time. For the special case where all agents are initially at rest we propose a two-step…
We present a coordination method for multiple mobile manipulators to sort objects in clutter. We consider the object rearrangement problem in which the objects must be sorted into different groups in a particular order. In clutter, the…
We address the problem of efficient data gathering in a wireless network through multi-hop communication. We focus on the objective of minimizing the maximum flow time of a data packet. We prove that no polynomial time algorithm for this…