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This paper considers automatic generation control over an information-sharing network of communicating generators as a multi-agent system. The optimization solution is distributed among the agents based on information consensus algorithms,…
Group Relative Policy Optimization (GRPO) has shown promise in discrete action spaces by eliminating value function dependencies through group-based advantage estimation. However, its application to continuous control remains unexplored,…
Achieving scalable coordination in large robotic swarms is often constrained by reliance on inter-agent communication, which introduces latency, bandwidth limitations, and vulnerability to failure. To address this gap, a decentralized…
We propose a regularized saddle-point algorithm for convex networked optimization problems with resource allocation constraints. Standard distributed gradient methods suffer from slow convergence and require excessive communication when…
A one-dimensional rule-based model for flocking, that combines velocity alignment and long-range centering interactions, is presented and studied. The induced cohesion in the collective motion of the self-propelled agents leads to a unique…
The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…
This paper addresses planning and control of robot motion under uncertainty that is formulated as a continuous-time, continuous-space stochastic optimal control problem, by developing a topology-guided path integral control method. The path…
This paper explores the controllability and state tracking of ensembles from the perspective of optimal transport theory. Ensembles, characterized as collections of systems evolving under the same dynamics but with varying initial…
A common problem in science networks and private wide area networks (WANs) is that of achieving predictable data transfers of multiple concurrent flows by maintaining specific pacing rates for each. We address this problem by developing a…
We present a unified analytical framework within which power control, rate allocation, routing, and congestion control for wireless networks can be optimized in a coherent and integrated manner. We consider a multi-commodity flow model with…
In this paper, we consider a population of individuals who have actions and opinions, which coevolve, mutually influencing one another on a complex network structure. In particular, we formulate a control problem for this social network, in…
Recently, there has been a surge of research on a class of methods called feedback optimization. These are methods to steer the state of a control system to an equilibrium that arises as the solution of an optimization problem. Despite the…
This paper discusses distributed optimization over a directed graph. We begin with some well known algorithms which achieve consensus among agents including FROST [1], which possesses the quickest convergence to the optimum. It is a well…
Reaching a consensus in a swarm of robots is one of the fundamental problems in swarm robotics, examining the possibility of reaching an agreement within the swarm members. The recently-introduced contamination problem offers a new…
Swarm intelligence is widely recognized as a powerful paradigm of self-organized optimization, with numerous examples of successful applications in distributed artificial intelligence. However, the role of physical interactions in the…
In this paper, we consider the problem of containment control of multi-agent systems with multiple stationary leaders, interacting over a directed network. While, containment control refers to just ensuring that the follower agents reach…
This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…
Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…
In this Letter we propose a method to control a set of arbitrary nodes in a directed network such that they follow a synchronous trajectory which is, in general, not shared by the other units of the network. The problem is inspired to those…
Collective behavior models, such as aggregation and flocking, usually assume self-propelled robots that can directly execute their desired speed and direction of motion without fundamental constraints. However, autonomous sailing robots…