Related papers: Cooperative Estimation for Synchronization of Hete…
Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents may encounter latency that may affect…
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…
Distance measurements demonstrate distinctive scalability when used for relative state estimation in large-scale multi-robot systems. Despite the attractiveness of distance measurements, multi-robot relative state estimation based on…
This paper addresses the distributed localization problem for a network of sensors placed in a three-dimensional space, in which sensors are able to perform range measurements, i.e., measure the relative distance between them, and exchange…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
This paper presents the overall design of a multi-agent framework for tuning the performance of an application executing in a distributed environment. The multi-agent framework provides services like resource brokering, analyzing…
With the advances in sensors and computer networks an increased number of Mixed Reality (MR) applications require large amounts of information from the real world. Such information is collected through sensors (e.g. position and orientation…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
We study robust mean estimation in an online and distributed scenario in the presence of adversarial data attacks. At each time step, each agent in a network receives a potentially corrupted data point, where the data points were originally…
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…
A group behavior of a heterogeneous multi-agent system is studied which obeys an "average of individual vector fields" under strong couplings among the agents. Under stability of the averaged dynamics (not asking stability of individual…
A state estimator is derived for an agent with the ability to measure single ranges to fixed points in its environment, and equipped with an accelerometer and a rate gyroscope. The state estimator makes no agent-specific assumptions, and…
We consider the distributed optimization problem, where a group of agents work together to optimize a common objective by communicating with neighboring agents and performing local computations. For a given algorithm, we use tools from…
As multi-agent networks grow in size and scale, they become increasingly difficult to synchronize, though agents must work together even when generating and sharing different information at different times. Targeting such cases, this paper…
This work develops a fully decentralized multi-agent algorithm for policy evaluation. The proposed scheme can be applied to two distinct scenarios. In the first scenario, a collection of agents have distinct datasets gathered following…
A hybrid observer is described for estimating the state of an $m>0$ channel, $n$-dimensional, continuous-time, distributed linear system of the form $\dot{x} = Ax,\;y_i = C_ix,\;i\in\{1,2,\ldots, m\}$. The system's state $x$ is…
This paper addresses the problem of collaborative tracking of dynamic targets in wireless sensor networks. A novel distributed linear estimator, which is a version of a distributed Kalman filter, is derived. We prove that the filter is mean…
We propose a distributed algorithm for time synchronization in mobile wireless sensor networks. Each node can employ the algorithm to estimate the global time based on its local clock time. The problem of time synchronization is formulated…
An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor agents observe a dynamic process and sporadically transmit their measurements to estimator agents…
Distributed sensor networks often include a multitude of sensors, each measuring parts of a process state space or observing the operations of a system. Communication of measurements between the sensor nodes and estimator(s) cannot…