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This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position…
In this paper, we address the distributed pose estimation problem for multi-agent systems, where the agents have unknown static positions and time-varying orientations. The interaction graph is assumed to be directed and acyclic with two…
This paper investigates the localization problem of a network in 2-D and 3-D spaces given the positions of anchor nodes in a global frame and inter-node relative measurements in local coordinate frames. It is assumed that the local frames…
Generalized from the concept of consensus, this paper considers a group of edge agreements, i.e. constraints defined for neighboring agents, in which each pair of neighboring agents is required to satisfy one edge agreement constraint. Edge…
Given an undirected graph G, the edge orientation problem asks for assigning a direction to each edge to convert G into a directed graph. The aim is to minimize the maximum out degree of a vertex in the resulting directed graph. This…
Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…
Many of the distributed localization algorithms are based on relaxed optimization formulations of the localization problem. These algorithms commonly rely on first-order optimization methods, and hence may require many iterations or…
Given a network of multiple agents, the pointing consensus problem asks all agents to point toward a common target. This paper proposes a simple method to solve the pointing consensus problem in the plane. In our formulation, each agent…
In the paper, we formulate the target-pointing consensus problem where the headings of agents are required to point at a common target. Only a few agents in the network can measure the bearing information of the target. A two-step solution…
In this paper we consider the localization problem for a visual sensor network. Inspired by the alternate attitude and position distributed optimization framework discussed in [1], we propose an estimation scheme that exploits the unit dual…
The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing. This article addresses an important case where each agent in…
Characterized by a cross-disciplinary nature, the bearing-based target localization task involves estimating the position of an entity of interest by a group of agents capable of collecting noisy bearing measurements. In this work, this…
Motivated by real-world applications such as the allocation of public housing, we examine the problem of assigning a group of agents to vertices (e.g., spatial locations) of a network so that the diversity level is maximized. Specifically,…
This paper investigates a distributed optimization problem under edge agreements, where each agent in the network is also subject to local convex constraints. Generalized from the concept of consensus, a group of edge agreements represents…
In this paper we study the inverse eigenvector centrality problem on directed graphs: given a prescribed node centrality profile, we seek edge weights that realize it. Since this inverse problem generally admits infinitely many solutions,…
A distributed pose localization framework based on direction measurements is proposed for a type of \textit{leader-follower} multi-agent systems in $\mathbb{R}^3$. The novelty of the proposed localization method lies in the elimination of…
Many phenomena in real world social networks are interpreted as spread of influence between activated and non-activated network elements. These phenomena are formulated by combinatorial graphs, where vertices represent the elements and…
In this paper, we propose a distributed algorithm, called Directed-Distributed Gradient Descent (D-DGD), to solve multi-agent optimization problems over directed graphs. Existing algorithms mostly deal with similar problems under the…
This paper addresses the problem of bearing-based network localization, which aims to localize all the nodes in a static network given the locations of a subset of nodes termed anchors and inter-node bearings measured in a common reference…
We consider a multi agent optimization problem where a set of agents collectively solves a global optimization problem with the objective function given by the sum of locally known convex functions. We focus on the case when information…