Related papers: Distributed Average Tracking for Double-integrator…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
We introduce the concept of continuous transportation task to the context of multi-agent systems. A continuous transportation task is one in which a multi-agent team visits a number of fixed locations, picks up objects, and delivers them to…
We present a model for controlling swarms of mobile agents via broadcast control, assumed to be detected by a random set of agents in the swarm. The agents that detect the control signal become ad-hoc leaders of the swarm. The agents are…
This work considers the distributed computation of the one-to-one vertex correspondences between two undirected and connected graphs, which is called \textit{graph matching}, over multi-agent networks. Given two \textit{isomorphic} and…
We apply diffusion strategies to develop a fully-distributed cooperative reinforcement learning algorithm in which agents in a network communicate only with their immediate neighbors to improve predictions about their environment. The…
We propose a linear time-difference-of-arrival (TDOA) measurement model to improve \textit{distributed} estimation performance for localized target tracking. We design distributed filters over sparse (possibly large-scale) communication…
Active-passive multiagent systems consist of agents subject to inputs (active agents) and agents with no inputs (passive agents), where active and passive agent roles are considered to be interchangeable in order to capture a wide array of…
In this paper, we study the problem of distributed multi-agent optimization over a network, where each agent possesses a local cost function that is smooth and strongly convex. The global objective is to find a common solution that…
We propose a distributed algorithm to solve a special distributed multi-resource allocation problem with no direct inter-agent communication. We do so by extending a recently introduced additive-increase multiplicative-decrease (AIMD)…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…
Multi-agent systems cooperation to achieve global goals is usually limited by sensing, actuation, and communication issues. At the local level, continuous measurement and actuation is only approximated by the use of digital mechanisms that…
We present a principled and efficient planning algorithm for collaborative multiagent dynamical systems. All computation, during both the planning and the execution phases, is distributed among the agents; each agent only needs to model and…
A novel distributed control law for consensus of networked double integrator systems with biased measurements is developed in this article. The agents measure relative positions over a time-varying, undirected graph with an unknown and…
Distributed optimization problems have received much attention due to their privacy preservation, parallel computation, less communication, and strong robustness. This paper presents and studies the time-varying distributed optimization…
Average consensus protocols emerge with a central role in distributed systems and decision-making such as distributed information fusion, distributed optimization, distributed estimation, and control. A key advantage of these protocols is…
Most recent works on multi-target tracking with multiple cameras focus on centralized systems. In contrast, this paper presents a multi-target tracking approach implemented in a distributed camera network. The advantages of distributed…
In this paper, the mixed equilibrium problem with coupled inequality constraints in dynamic environments is solved by employing a multi-agent system, where each agent only has access to its own bifunction, its own constraint function, and…
Due to accelerating urbanization, the importance of solving the signal control problem increases. This paper analyzes various existing methods and suggests options for increasing the number of agents to reduce the average travel time.…