Related papers: COME TOGETHER: Multi-Agent Geometric Consensus (Ga…
Aggregating signals from a collection of noisy sources is a fundamental problem in many domains including crowd-sourcing, multi-agent planning, sensor networks, signal processing, voting, ensemble learning, and federated learning. The core…
Given a network of agents, we study the problem of designing a distributed algorithm that computes k independent weighted means of the network's initial conditions (namely, the agents agree on a k-dimensional space). Akin to average…
Modeling mixed-traffic motion and interactions is crucial to assess safety, efficiency, and feasibility of future urban areas. The lack of traffic regulations, diverse transport modes, and the dynamic nature of mixed-traffic zones like…
We examine the problem of gathering $k \geq 2$ agents (or multi-agent rendezvous) in dynamic graphs which may change in every synchronous round but remain always connected ($1$-interval connectivity) [KLO10]. The agents are identical and…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
We study the problem of rendezvous of two mobile agents starting at distinct locations in an unknown graph. The agents have distinct labels and walk in synchronous steps. However the graph is unlabelled and the agents have no means of…
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…
This paper addresses novel consensus problems in the presence of adversaries that can move within the network and induce faulty behaviors in the attacked agents. By adopting several mobile adversary models from the computer science…
Transport in crowded, complex environments occurs across many spatial scales. Geometric restrictions can hinder the motion of individuals and, combined with crowding between individuals, can have drastic effects on global transport…
We introduce a distributed, cooperative framework and method for Bayesian estimation and control in decentralized agent networks. Our framework combines joint estimation of time-varying global and local states with information-seeking…
The gathering over meeting nodes problem requires the robots to gather at one of the pre-defined meeting nodes. This paper investigates the problem with respect to the objective function that minimizes the total number of moves made by all…
This paper addresses the problem of multitarget tracking using a network of sensing agents with unknown positions. Agents have to both localize themselves in the sensor network and, at the same time, perform multitarget tracking in the…
This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
In this paper, we study the leaderless consensus problem for multiple Lagrangian systems in the presence of parametric uncertainties and external disturbances under directed graphs. For achieving asymptotic behavior, a robust continuous…
We study the formation control problem for a group of mobile agents in a plane, in which each agent is modeled as a kinematic point and can only use the local measurements in its local frame. The agents are required to maintain a geometric…
Distributed signal processing for wireless sensor networks enables that different devices cooperate to solve different signal processing tasks. A crucial first step is to answer the question: who observes what? Recently, several distributed…
We consider a multi-agent system where each agent has its own estimate of a given quantity and the goal is to reach consensus on the average. To this purpose, we propose a distributed consensus algorithm that guarantees convergence to the…
We are concerned with a distributed approach to solve multi-cluster games arising in multi-agent systems. In such games, agents are separated into distinct clusters. The agents belonging to the same cluster cooperate with each other to…
We propose a distributed deployment solution for a group of mobile agents that should provide a service for a dense set of targets. The agents are heterogeneous in a sense that their quality of service (QoS), modeled as a spatial Gaussian…
The problem of consensus in the presence of misbehaving agents has increasingly attracted attention in the literature. Prior results have established algorithms and graph structures for multi-agent networks which guarantee the consensus of…