Related papers: Minimizing the Cost of Team Exploration
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
Distributed graph algorithms that separately optimize for either the number of rounds used or the total number of messages sent have been studied extensively. However, algorithms simultaneously efficient with respect to both measures have…
Standard algorithms for finding the shortest path in a graph require that the cost of a path be additive in edge costs, and typically assume that costs are deterministic. We consider the problem of uncertain edge costs, with potential…
Consider two robots that start at the origin of the infinite line in search of an exit at an unknown location on the line. The robots can only communicate if they arrive at the same location at exactly the same time, i.e. they use the…
Inspired by the concepts of deep learning in artificial intelligence and fairness in behavioural economics, we introduce deep teams in this paper. In such systems, agents are partitioned into a few sub-populations so that the dynamics and…
This paper deals with an optimization problem over a network of agents, where the cost function is the sum of the individual objectives of the agents and the constraint set is the intersection of local constraints. Most existing methods…
In this paper, we present a communication-free algorithm for distributed coverage of an arbitrary network by a group of mobile agents with local sensing capabilities. The network is represented as a graph, and the agents are arbitrarily…
The rendezvous task calls for two mobile agents, starting from different nodes of a network modeled as a graph to meet at the same node. Agents have different labels which are integers from a set $\{1,\dots,L\}$. They wake up at possibly…
Collision-free or contact-free routing through connected networks has been actively studied in the industrial automation and manufacturing context. Contact-free routing of personnel through connected networks (e.g., factories, retail…
Distributed online optimization and game have been increasingly researched in the last decade, mostly motivated by its wide applications in sensor networks, robotics (e.g., distributed target tracking and formation control), smart grids,…
We consider a class of distributed submodular maximization problems in which each agent must choose a single strategy from its strategy set. The global objective is to maximize a submodular function of the strategies chosen by each agent.…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…
We introduce a class of budgeted prize-collecting covering subgraph problems. For an input graph with prizes on the vertices and costs on the edges, the aim of these problems is to find a connected subgraph such that the cost of its edges…
We consider the problem of graph searching with prediction recently introduced by Banerjee et al. (2022). In this problem, an agent, starting at some vertex $r$ has to traverse a (potentially unknown) graph $G$ to find a hidden goal node…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
During the last decade, incremental sampling-based motion planning algorithms, such as the Rapidly-exploring Random Trees (RRTs) have been shown to work well in practice and to possess theoretical guarantees such as probabilistic…
The aim of this paper is to propose a computation offloading strategy for mobile edge computing. We exploit the concept of call graph, which models a generic computer program as a set of procedures related to each other through a weighted…
Consider a set of items and a set of $m$ colors, where each item is associated to one color. Consider also $n$ computational agents connected by a ring. Each agent holds a subset of the items and items of the same color can be held by…
We study the problem of collective tree exploration (CTE) where a team of $k$ agents is tasked to traverse all the edges of an unknown tree as fast as possible, assuming complete communication between the agents. In this paper, we present…
This paper presents a distributed optimization scheme over a network of agents in the presence of cost uncertainties and over switching communication topologies. Inspired by recent advances in distributed convex optimization, we propose a…