Related papers: A Best-Response Algorithm with Voluntary Communica…
Two cooperating, autonomous mobile robots with arbitrary nonzero max speeds are placed at arbitrary initial positions in the plane. A remotely detonated bomb is discovered at some source location and must be moved to a safe distance away…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
We investigate ways for the exchange of information (explicit communication) among deaf and dumb mobile robots scattered in the plane. We introduce the use of movement-signals (analogously to flight signals and bees waggle) as a mean to…
We consider the problem of decentralized deep learning where multiple agents collaborate to learn from a distributed dataset. While there exist several decentralized deep learning approaches, the majority consider a central parameter-server…
A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity and ensuring collision avoidance within the robots. Given…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures.…
This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…
Decentralized network theories focus on achieving consensus and in speeding up the rate of convergence to consensus. However, network cohesion (i.e., maintaining consensus) during transitions between consensus values is also important when…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
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…
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned…
This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
In large-scale Internet of things networks, efficient medium access control (MAC) is critical due to the growing number of devices competing for limited communication resources. In this work, we consider a new challenge in which a set of…
In this paper, we present a communication-free algorithm for distributed coverage of an arbitrary network by a group of mobile agents with local sensing capabilities. The network is represented as a graph, and the agents are arbitrarily…