Related papers: Tight Bounds for Asynchronous Collaborative Grid E…
In this paper, the communication effort required in a multi-agent system (MAS) is minimized via an explicit optimization formulation. The paper considers a MAS of single-integrator agents with bounded inputs and a time-invariant…
Given a connected region in two-dimensional space where events of a certain kind occur according to a certain time-varying density, we consider the problem of setting up a network of autonomous mobile agents to detect the occurrence of…
We investigate the problem of monitoring multiple targets using a single mobile sensor, with the goal of minimizing the maximum estimation error among all the targets over long time horizons. The sensor can move in a network-constrained…
This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…
We study a simple but compelling model of $n$ interacting agents via time-dependent, unidirectional communication. The model finds wide application in a variety of fields including synchronization, swarming and distributed decision making.…
Creatures in the real world constantly encounter new and diverse challenges they have never seen before. They will often need to adapt to some of these tasks and solve them in order to survive. This almost endless world of novel challenges…
We consider the problem of exploring an unknown tree with a team of $k$ initially colocated mobile agents. Each agent has limited energy and cannot, as a result, traverse more than $B$ edges. The goal is to maximize the number of nodes…
In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of…
We show tight lower bounds for the entire trade-off between space and query time for the Approximate Near Neighbor search problem. Our lower bounds hold in a restricted model of computation, which captures all hashing-based approaches. In…
We consider evacuation of a group of $n \geq 2$ autonomous mobile agents (or robots) from an unknown exit on an infinite line. The agents are initially placed at the origin of the line and can move with any speed up to the maximum speed $1$…
We target the problem of controlling electrical microgrids with little inertia in real time. We consider a central controller and a number of resources, where each resource is either a load, a generator, or a combination thereof, like a…
Motivated by applications in intelligent highway systems, the paper studies the problem of guiding mobile agents in a one-dimensional formation to their desired relative positions. Only coarse information is used which is communicated from…
Due to some significantly contradicting research results, we reconsider the problem of the online exploration of a simple grid cell environment. In this model an agent attains local information about the direct four-neigbourship of a…
In this work, we study the problem where a group of mobile agents needs to reach a set of goal locations, but it does not matter which agent reaches a specific goal. Unlike most of the existing works on this topic that typically assume the…
This work presents and experimentally test the framework used by our context-aware, distributed team of small Unmanned Aerial Systems (SUAS) capable of operating in real-time, in an autonomous fashion, and under constrained communications.…
The difference between the speed of the actions of different processes is typically considered as an obstacle that makes the achievement of cooperative goals more difficult. In this work, we aim to highlight potential benefits of such…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…
We study the problem of deterministically exploring an undirected and initially unknown graph with $n$ vertices either by a single agent equipped with a set of pebbles, or by a set of collaborating agents. The vertices of the graph are…
The gathering problem requires a set of mobile agents, arbitrarily positioned at different nodes of a network to group within finite time at the same location, not fixed in advanced. The extensive existing literature on this problem shares…
Consider a small number of scouts exploring the infinite $d$-dimensional grid with the aim of hitting a hidden target point. Each scout is controlled by a probabilistic finite automaton that determines its movement (to a neighboring grid…