Related papers: Distributed Multi-Target Tracking for Autonomous V…
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…
We introduce the framework of cooperative simultaneous localization and tracking (CoSLAT), which provides a consistent combination of cooperative self-localization (CSL) and distributed target tracking (DTT) in sensor networks without a…
In this paper, we present a solution to a design problem of control strategies for multi-agent cooperative transport. Although existing learning-based methods assume that the number of agents is the same as that in the training environment,…
Over the past decade, several approaches have been introduced for short-term traffic prediction. However, providing fine-grained traffic prediction for large-scale transportation networks where numerous detectors are geographically deployed…
This paper studies the distributed average tracking problem pertaining to a discrete-time linear time-invariant multi-agent network, which is subject to, concurrently, input delays, random packet-drops, and reference noise. The problem…
This paper presents a new optimal filter namely past observation-based extended Kalman filter for the problem of localization of Internet-based mobile robot in which the control input and the feedback measurement suffer from communication…
This paper proposes a distributed optimization-based algorithm for electric vehicle (EV) charging and discharging, incorporating EV customer economics and distribution network constraints enforced on an unbalanced distribution grid.…
Distributed algorithms for both discrete-time and continuous-time linearly solvable optimal control (LSOC) problems of networked multi-agent systems (MASs) are investigated in this paper. A distributed framework is proposed to partition the…
We consider the Kalman-filtering problem with multiple sensors which are connected through a communication network. If all measurements are delivered to one place called fusion center and processed together, we call the process centralized…
LADARs mounted on mobile platforms produce a wealth of precise range data on the surrounding objects and vehicles. The challenge we address is to infer from these raw LADAR data the location and orientation of nearby vehicles. We propose a…
In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower…
Connected and automated vehicles (CAVs) have the potential to improve traffic throughput and achieve a more efficient utilization of the available roadway infrastructure. They also have the potential to reduce energy consumption through…
The problem of multisensor multitarget state estimation in the presence of constant but unknown sensor biases is investigated. The classical approach to this problem is to augment the state vector to include the states of all the targets…
Autonomous vehicles (AVs) must interact with a diverse set of human drivers in heterogeneous geographic areas. Ideally, fleets of AVs should share trajectory data to continually re-train and improve trajectory forecasting models from…
Optimal transport is a powerful framework for the efficient allocation of resources between sources and targets. However, traditional models often struggle to scale effectively in the presence of large and heterogeneous populations. In this…
This paper investigates a distributed goal assignment problem in leader-following formation control of second-order multi-agent systems. It is assumed that each agent can communicate with nearby agents within the communication range and the…
This paper investigates the distributed Kalman filtering (DKF) from distributed optimization viewpoint. Motivated by the fact that Kalman filtering is a maximum a posteriori estimation (MAP) problem, which is a quadratic optimization…
We propose a distributed version of the Alternating Direction Method of Multipliers (ADMM) with linear updates for directed networks. We show that if the objective function of the minimization problem is smooth and strongly convex, our…
We consider the challenging problem of tracking multiple objects using a distributed network of sensors. In the practical setting of nodes with limited field of views (FoVs), computing power and communication resources, we develop a novel…
Effective coordination of agents actions in partially-observable domains is a major challenge of multi-agent systems research. To address this, many researchers have developed techniques that allow the agents to make decisions based on…