Related papers: Distributed Sweep Coverage Algorithm of Multi-agen…
We consider the distributed optimization problem for a multi-agent system. Here, multiple agents cooperatively optimize an objective by sharing information through a communication network and performing computations. In this tutorial, we…
This article studies the distributed estimation problem of a multi-agent system with bounded absolute and relative range measurements. Parts of the agents are with high-accuracy absolute measurements, which are considered as anchors; the…
In this paper, we consider the resilient multi-dimensional consensus and distributed optimization problems of multi-agent systems (MASs) in the presence of both agent-based and denial-of-service (DoS) attacks. The considered agent-based…
We apply diffusion strategies to develop a fully-distributed cooperative reinforcement learning algorithm in which agents in a network communicate only with their immediate neighbors to improve predictions about their environment. The…
In this paper we focus on the distributed quantized average consensus problem in open multi-agent systems consisting of dynamic directed communication links among active nodes. We propose three communication-efficient distributed algorithms…
Coverage problems are central in optimization and have a wide range of applications in data mining and machine learning. While several distributed algorithms have been developed for coverage problems, the existing methods suffer from…
Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…
This note is devoted to the distributed optimization problem of multi-agent systems with nonconvex velocity constraints, nonuniform position constraints and nonuniform stepsizes. Two distributed constrained algorithms with nonconvex…
Future applications in environmental monitoring, delivery of services and transportation of goods motivate the study of deployment and partitioning tasks for groups of autonomous mobile agents. These tasks are achieved by recent coverage…
In this work, we propose a continuous-time distributed optimization algorithm with guaranteed zero coupling constraint violation and apply it to safe distributed control in the presence of multiple control barrier functions (CBF). The…
In this paper we develop a method for planning and coordinating a multi-agent team deployment to periodically gather information on demand. A static operation center (OC) periodically requests information from changing goal locations. The…
In this paper we propose a periodic solution to the problem of persistently covering a finite set of interest points with a group of autonomous mobile agents. These agents visit periodically the points and spend some time carrying out the…
This paper describes a number of distributed forward search algorithms for solving multi-agent planning problems. We introduce a distributed formulation of non-optimal forward search, as well as an optimal version, MAD-A*. Our algorithms…
Multi-agent systems are designed to concurrently accomplish a diverse set of tasks at unprecedented scale. Here, the central problems faced by a system operator are to decide (i) how to divide available resources amongst the agents assigned…
Constrained submodular set function maximization problems often appear in multi-agent decision-making problems with a discrete feasible set. A prominent example is the problem of multi-agent mobile sensor placement over a discrete domain.…
This paper studies distributed algorithms for the extended monotropic optimization problem, which is a general convex optimization problem with a certain separable structure. The considered objective function is the sum of local convex…
This paper addresses the limitations of a single agent in task decomposition and collaboration during complex task execution, and proposes a multi-agent architecture for modular task decomposition and dynamic collaboration based on large…