Related papers: Patterned Dynamics of Delay-Coupled Swarms with Ra…
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…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
The emergence of collective decision in swarms and their coordinated response to complex environments underscore the central role played by social transmission of information. Here, the different possible origins of information flow…
This paper proposes two nonlinear dynamics to solve constrained distributed optimization problem for resource allocation over a multi-agent network. In this setup, coupling constraint refers to resource-demand balance which is preserved at…
We consider a group of agents on a graph who repeatedly play the prisoner's dilemma game against their neighbors. The players adapt their actions to the past behavior of their opponents by applying the win-stay lose-shift strategy. On a…
Classical approaches for asymptotic convergence to the global average in a distributed fashion typically assume timely and reliable exchange of information between neighboring components of a given multi-component system. These assumptions…
This paper discusses distributed optimization over a directed graph. We begin with some well known algorithms which achieve consensus among agents including FROST [1], which possesses the quickest convergence to the optimum. It is a well…
By using wireless connectivity through cellular base stations (BSs), swarms of unmanned aerial vehicles (UAVs) can provide a plethora of services ranging from delivery of goods to surveillance. In particular, UAVs in a swarm can utilize…
Natural, social, and artificial multi-agent systems usually operate in dynamic environments, where the ability to respond to changing circumstances is a crucial feature. An effective collective response requires suitable information…
This paper considers the problem of distributed state estimation using multi-robot systems. The robots have limited communication capabilities and, therefore, communicate their measurements intermittently only when they are physically close…
Cooperative transport is a striking phenomenon where multiple agents join forces to transit a payload too heavy for the individual. While social animals such as ants are routinely observed to coordinate transport at scale, reproducing the…
Small networks of chaotic units which are coupled by their time-delayed variables, are investigated. In spite of the time delay, the units can synchronize isochronally, i.e. without time shift. Moreover, networks can not only synchronize…
In this article, we consider a cooperative control problem involving a heterogeneous network of dynamically decoupled continuous-time linear plants. The (output-feedback) controllers for each plant may communicate with each other according…
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…
In this preliminary paper we study the stability property of a consensus on the average algorithm in arbitrary directed graphs with respect to communication/sensing time-delays. The proposed algorithm adds a storage variable to the agents'…
In this paper, we deal with a Cucker-Smale model with time-dependent time delay and communication failures. Namely, we investigate the situation in which the agents involved in a flocking process can possibly suspend the exchange of…
We study the effect of contingent movement on the persistence of cooperation on complex networks with empty nodes. Each agent plays Prisoner's Dilemma game with its neighbors and then it either updates the strategy depending on the payoff…
Swarm stability is concerned for descriptor compartmental networks with linear time-invariant protocol. Compartmental network is a specific type of dynamical multi-agent system. Necessary and sufficient conditions for both consensus and…
Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…
This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…