Related papers: Structurally Observable Distributed Networks of Ag…
In this paper, multi-agent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuous-time dynamics with time-varying interconnection topologies. Assuming that each…
We study a distributed coordination mechanism for uniform agents located on a circle. The agents perform their actions in synchronised rounds. At the beginning of each round an agent chooses the direction of its movement from clockwise,…
Distributed optimal control is known to be challenging and can become intractable even for linear-quadratic regulator problems. In this work, we study a special class of such problems where distributed state feedback controllers can give…
In this paper, we investigate the distributed state estimation problem for a continuous-time linear multi-agent system (MAS) composed of $\mathit{m}$ agents and monitored by the agents themselves. To address this problem, we propose a…
In this work we consider a generalization of the well-known multivehicle routing problem: given a network, a set of agents occupying a subset of its nodes, and a set of tasks, we seek a minimum cost sequence of movements subject to the…
Modern artificial intelligence relies on networks of agents that collect data, process information, and exchange it with neighbors to collaboratively solve optimization and learning problems. This article introduces a novel distributed…
Learning the relationships between various entities from time-series data is essential in many applications. Gaussian graphical models have been studied to infer these relationships. However, existing algorithms process data in a batch at a…
We propose a distributed control algorithm for a multi-agent network whose agents deploy over a cluttered region in accordance with a time-varying coverage density function while avoiding collisions with all obstacles they encounter. Our…
Modern cyber-physical architectures use data collected from systems at different physical locations to learn appropriate behaviors and adapt to uncertain environments. However, an important challenge arises as communication exchanges at the…
This paper studies a class of distributed online convex optimization problems for heterogeneous linear multi-agent systems. Agents in a network, knowing only their own outputs, need to minimize the time-varying costs through neighboring…
Distributed estimation that recruits potentially large groups of humans to collect data about a phenomenon of interest has emerged as a paradigm applicable to a broad range of detection and estimation tasks. However, it also presents a…
We present distributed algorithms that can be used by multiple agents to align their estimates with a particular value over a network with time-varying connectivity. Our framework is general in that this value can represent a consensus…
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…
Complex scheduling problems require a large amount computation power and innovative solution methods. The objective of this paper is the conception and implementation of a multi-agent system that is applicable in various problem domains.…
In this paper, the controllability and observability of linear multi-agent systems over matrix-weighted signed networks are analyzed. Firstly, the definition of equitable partition of matrix-weighted signed multi-agent system is given, and…
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…
In this paper, we analyze the convergence of a distributed Robbins-Monro algorithm for both constrained and unconstrained optimization in multi-agent systems. The algorithm searches for local minima of a (nonconvex) objective function which…
We consider the localization problem between agents while they run a formation control algorithm. These algorithms typically demand from the agents the information about their relative positions with respect to their neighbors. We assume…
A k-order coverage control problem is studied where a network of agents must deploy over a desired area. The objective is to deploy all the agents in a decentralized manner such that a certain coverage performance metric of the network is…
Multi-agent systems are prevalent in a wide range of domains including power systems, vehicular networks, and robotics. Two important problems to solve in these types of systems are how the intentions of non-coordinating agents can be…