Related papers: Efficient Dispersion of Mobile Robots on Arbitrary…
Decentralized optimization over time-varying graphs has been increasingly common in modern machine learning with massive data stored on millions of mobile devices, such as in federated learning. This paper revisits the widely used…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
In this paper, we study the Orienteering Aisle-graphs Single-access Problem (OASP), a variant of the orienteering problem for a robot moving in a so-called single-access aisle-graph, i.e., a graph consisting of a set of rows that can be…
We present ROBO (Riemannian Overlapping Block Optimization), a distributed and parallel approach to multi-robot pose graph optimization (PGO) based on the idea of overlapping domain decomposition. ROBO offers a middle ground between…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
We consider the distributed optimization problem where $n$ agents each possessing a local cost function, collaboratively minimize the average of the $n$ cost functions over a connected network. Assuming stochastic gradient information is…
We consider stochastic optimization with delayed gradients where, at each time step $t$, the algorithm makes an update using a stale stochastic gradient from step $t - d_t$ for some arbitrary delay $d_t$. This setting abstracts asynchronous…
In theoretical computer science, it is a common practice to show existential lower bounds for problems, meaning there is a family of pathological inputs on which no algorithm can do better. However, most inputs of interest can be solved…
We consider the problem of maximizing the algebraic connectivity of the communication graph in a network of mobile robots by moving them into appropriate positions. We define the Laplacian of the graph as dependent on the pairwise distance…
The back-end module of Distributed Collaborative Simultaneous Localization and Mapping (DCSLAM) requires solving a nonlinear Pose Graph Optimization (PGO) under a distributed setting, also known as SE(d)-synchronization. Most existing…
We consider the following fundamental routing problem. An adversary inputs packets arbitrarily at sources, each packet with an arbitrary destination. Traffic is constrained by link capacities and buffer sizes, and packets may be dropped at…
We consider the problem of clustering graph nodes over large-scale dynamic graphs, such as citation networks, images and web networks, when graph updates such as node/edge insertions/deletions are observed distributively. We propose…
In graph analysis, a classic task consists in computing similarity measures between (groups of) nodes. In latent space random graphs, nodes are associated to unknown latent variables. One may then seek to compute distances directly in the…
A $t$-ruling set of a graph $G = (V, E)$ is a vertex-subset $S \subseteq V$ that is independent and satisfies the property that every vertex $v \in V$ is at a distance of at most $t$ from some vertex in $S$. A \textit{maximal independent…
We develop new $(1+\epsilon)$-approximation algorithms for finding the global minimum edge-cut in a directed edge-weighted graph, and for finding the global minimum vertex-cut in a directed vertex-weighted graph. Our algorithms are…
Recently, \citeauthor*{akbari2021locality}~(ICALP 2023) studied the locality of graph problems in distributed, sequential, dynamic, and online settings from a {unified} point of view. They designed a novel $O(\log n)$-locality deterministic…
We consider the problem of minimizing the number of broadcasts for collecting all sensor measurements at a sink node in a noisy broadcast sensor network. Focusing first on arbitrary network topologies, we provide (i) fundamental limits on…
In this paper, we consider distributed coloring for planar graphs with a small number of colors. We present an optimal (up to a constant factor) $O(\log{n})$ time algorithm for 6-coloring planar graphs. Our algorithm is based on a novel…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…