Related papers: Nearest Neighbor-based Rendezvous for Sparsely Con…

This report surveys results on distributed systems comprising mobile agents that are identical and anonymous, oblivious and interact solely by adjusting their motion according to the relative location of their neighbours. The agents are…

Here we consider the communications tactics appropriate for a group of agents that need to "swarm" together in a highly adversarial environment. Specfically, whilst they need to cooperate by exchanging information with each other about…

Collaboration requires agents to align their goals on the fly. Underlying the human ability to align goals with other agents is their ability to predict the intentions of others and actively update their own plans. We propose hierarchical…

This paper investigates multi-agent frequencybased patrolling of intersecting, circle graphs under conditions where graph nodes have non-uniform visitation requirements and agents have limited ability to communicate. The task is modeled as…

Achieving consensus via nearest neighbor rules is an important prerequisite for multi-agent networks to accomplish collective tasks. A common assumption in consensus setup is that each agent interacts with all its neighbors. This paper…

Physical social encounters are governed by a set of socio-psychological behavioral rules with a high degree of uniform validity. Past research has shown how these rules or the resulting properties of the encounters (e.g. the geometry of…

In this work we study a multi-agent coordination problem in which agents are only able to communicate with each other intermittently through a cloud server. To reduce the amount of required communication, we develop a self-triggered…

This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…

We study the problem of distributed coverage control in a network of mobile agents arranged on a line. The goal is to design distributed dynamics for the agents to achieve optimal coverage positions with respect to a scalar density field…

Many significant functionalities of vehicular ad hoc networks (VANETs) require that nodes have knowledge of the positions of other vehicles, and notably of those within communication range. However, adversarial nodes could provide false…

This paper presents a trust-based predictive multi-agent consensus protocol that analyses neighbours' anticipation data and makes coordination decisions. Agents in the network share their future predicted data over a finite look-ahead…

In optimizing the topology of wireless networks built of a dynamic set of spatially embedded agents, there are many trade-offs to be dealt with. The network should preferably be as small (in the sense that the average, or maximal,…

Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents maneuvering in the vicinity of multiple moving entities (e.g. other…

In this paper we consider the problem of navigation and motion control in an area densely populated with other agents. We propose an algorithm that, without explicit communication and based on the information it has, computes the best…

In a rendezvous task, some mobile agents dispersed in a network have to gather at an arbitrary common site. We consider the rendezvous problem on the infinite labeled line, with $2$ agents, without communication, and a synchronous notion of…

Designing policies for a network of agents is typically done by formulating an optimization problem where each agent has access to state measurements of all the other agents in the network. Such policy designs with centralized information…

This paper solves the rendezvous problem for a network of underactuated rigid bodies such as quadrotor helicopters. A control strategy is presented that makes the centres of mass of the vehicles converge to an arbitrarily small neighborhood…

A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…

Consider a consensus-driven multi-agent dynamic system. The interaction range, which defines the set of neighbors for each agent, plays a key role in influencing connectivity of the underlying network. In this paper, we assume the system is…

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…