Related papers: Distributed Sweep Coverage Algorithm of Multi-agen…
We consider the problem of dynamically allocating tasks to multiple agents under time window constraints and task completion uncertainty. Our objective is to minimize the number of unsuccessful tasks at the end of the operation horizon. We…
In this paper, a distributed subgradient-based algorithm is proposed for continuous-time multi-agent systems to search a feasible solution to convex inequalities. The algorithm involves each agent achieving a state constrained by its own…
In this paper, we propose a novel distributed algorithm to optimize the emergent macroscopic behavior of large-scale multi-agent systems via microscopic actions. We cast this task as a bilevel optimization problem, where the upper level…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
We propose a distributed algorithm to solve a dynamic programming problem with multiple agents, where each agent has only partial knowledge of the state transition probabilities and costs. We provide consensus proofs for the presented…
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…
This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of…
We propose MADP, a novel diffusion-model-based approach for collaboration in decentralized robot swarms. MADP leverages diffusion models to generate samples from complex and high-dimensional action distributions that capture the…
This paper considers the problem of detecting impaired and noisy nodes over network. In a distributed algorithm, lots of processing units are incorporating and communicating with each other to reach a global goal. Due to each one's state in…
In this paper, we develop and present a novel strategy for safe coordination of a large-scale multi-agent team with ``\textit{local deformation}" capabilities. Multi-agent coordination is defined by our proposed method as a multi-layer…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
Distributed algorithms for both discrete-time and continuous-time linearly solvable optimal control (LSOC) problems of networked multi-agent systems (MASs) are investigated in this paper. A distributed framework is proposed to partition the…
We consider the problem of determining the optimal composition of a heterogeneous multi-agent team for coverage problems by including costs associated with different agents and subject to an upper bound on the maximal allowable number of…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
A multi-agent coverage problem is considered with energy-constrained agents. The objective of this paper is to compare the coverage performance between centralized and decentralized approaches. To this end, a near-optimal centralized…
In this paper, we consider a class of workspace partitioning problems that arise in the context of area coverage and spatial load balancing for spatially distributed heterogeneous multi-agent networks. It is assumed that each agent has…
Resource allocation and scheduling in multi-agent systems present challenges due to complex interactions and decentralization. This survey paper provides a comprehensive analysis of distributed algorithms for addressing the distributed…
In this paper, we investigate the distributed optimal control problem for a kind of nonlinear multi-agent systems. In particular,both the state and the system dynamic structures of each agent are private and can only be shared among…
This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…