Related papers: Nearest Neighbor-based Rendezvous for Sparsely Con…
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
In the context of search and rescue, we consider the problem of mission planning for heterogeneous teams that can include human, robotic, and animal agents. The problem is tackled using a mixed integer mathematical programming formulation…
This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…
Consider a network whose nodes have some initial values, and it is desired to design an algorithm that builds on neighbor to neighbor interactions with the ultimate goal of convergence to the average of all initial node values or to some…
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on local observations, this approach falters in complex…
Neighborhood finders and nearest neighbor queries are fundamental parts of sampling based motion planning algorithms. Using different distance metrics or otherwise changing the definition of a neighborhood produces different algorithms with…
The problem of base station cooperation has recently been set within the framework of Stochastic Geometry. Existing works consider that a user dynamically chooses the set of stations that cooperate for his/her service. However, this…
Learning how to navigate among humans in an occluded and spatially constrained indoor environment, is a key ability required to embodied agent to be integrated into our society. In this paper, we propose an end-to-end architecture that…
Unmanned systems (USs) including unmanned aerial vehicles, unmanned underwater vehicles, and unmanned ground vehicles have great application prospects in military and civil fields, among which the process of finding feasible and optimal…
One of the most essential prerequisites behind a successful task execution of a team of agents is to accurately estimate and track their poses. We consider a cooperative multi-agent positioning problem where each agent performs single-agent…
We consider a dynamically decoupled network of agents each with a local output-feedback controller. We assume each agent is a node in a directed acyclic graph and the controllers share information along the edges in order to cooperatively…
This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…
Two mobile agents, starting at arbitrary, possibly different times from arbitrary locations in the plane, have to meet. Agents are modeled as discs of diameter 1, and meeting occurs when these discs touch. Agents have different labels which…
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.…
This paper investigates the problem of communication relay establishment for multiple agent-based mobile units using a relay vehicle. The objective is to drive autonomously the relay vehicle to attain a position for communication relay…
In wireless systems, neighbor discovery (ND) is a fundamental building block: determining which devices are within direct radio communication is an enabler for networking protocols and a wide range of applications. To thwart abuse of ND and…
In many multi-agent systems, communication is limited by bandwidth, latency, and energy constraints. Designing controllers that achieve coordination and safety with minimal communication is critical for scalable and reliable deployment.…
We study the problem of patrolling the nodes of a network collaboratively by a team of mobile agents, such that each node of the network is visited by at least one agent once in every $I(n)$ time units, with the objective of minimizing the…
As the number of uncontrollable objects in low earth orbit is rising, the thread of collisions and thus the breakdown of working satellites becomes worth analyzing. Consequently, projects on removing objects from the important orbits are…