Related papers: From Simplicity to Complexity Based on Consensus: …
We study the scalability of consensus-based distributed optimization algorithms by considering two questions: How many processors should we use for a given problem, and how often should they communicate when communication is not free?…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
In this paper, a distributed velocity-constrained consensus problem is studied for discrete-time multi-agent systems, where each agent's velocity is constrained to lie in a nonconvex set. A distributed constrained control algorithm is…
We consider \emph{plurality consensus} in a network of $n$ nodes. Initially, each node has one of $k$ opinions. The nodes execute a (randomized) distributed protocol to agree on the plurality opinion (the opinion initially supported by the…
Motivated by the increasing need for fast processing of large-scale graphs, we study a number of fundamental graph problems in a message-passing model for distributed computing, called $k$-machine model, where we have $k$ machines that…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
In this paper we consider shortest path problems in a directed graph where the transitions between nodes are subject to uncertainty. We use a minimax formulation, where the objective is to guarantee that a special destination state is…
We present analytical results for the distribution of shortest path lengths between random pairs of nodes in configuration model networks. The results, which are based on recursion equations, are shown to be in good agreement with numerical…
We investigate graph problems in the following setting: we are given a graph $G$ and we are required to solve a problem on $G^2$. While we focus mostly on exploring this theme in the distributed CONGEST model, we show new results and…
We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a reliable infrastructure for communication. The backbone for modern mapping techniques…
Through legislation and technical advances users gain more control over how their data is processed, and they expect online services to respect their privacy choices and preferences. However, data may be processed for many different…
In this paper, we introduce a novel adaptation of the Raft consensus algorithm for achieving emergent formation control in multi-agent systems with a single integrator dynamics. This strategy, dubbed "Rafting," enables robust cooperation…
This paper introduces some tools from graph theory and distributed consensus algorithms to construct an optimal, yet robust, hierarchical information sharing structure for large-scale decision making and control problems. The proposed…
In this paper we consider a network of processors aiming at cooperatively solving linear programming problems subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
This work investigates a reduced-complexity adaptive methodology to consensus tracking for a team of uncertain high-order nonlinear systems with switched (possibly asynchronous) dynamics. It is well known that high-order nonlinear systems…
Optimal paths connecting randomly selected network nodes and fixed routers are studied analytically in the presence of non-linear overlap cost that penalizes congestion. Routing becomes increasingly more difficult as the number of selected…
We study the problem of distributed traffic control in the partitioned plane, where the movement of all entities (robots, vehicles, etc.) within each partition (cell) is coupled. Establishing liveness in such systems is challenging, but…
In this paper we study the inherent trade-off between time and communication complexity for the distributed consensus problem. In our model, communication complexity is measured as the maximum data throughput (in bits per second) sent…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
Distributed optimization is an important direction of research in modern optimization theory. Its applications include large scale machine learning, distributed signal processing and many others. The paper studies decentralized min-max…