Related papers: Guarding a Polygon Without Losing Touch
We consider the problem of collectively delivering some message from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent has a limited energy which constrains the distance it can move.…
In this paper, we plan missions for a fleet of agents in undirected graphs, such as grids, with multiple goals. In contrast to regular multi-agent path-finding, the solver finds and updates the assignment of goals to the agents on its own.…
Consider a group of autonomous mobile computational entities, called agents, arbitrarily placed at some nodes of a dynamic but always connected ring. The agents neither have any knowledge about the size of the ring nor have a common notion…
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…
We consider the fair allocation of indivisible items to several agents with additional conflict constraints. These are represented by a conflict graph where each item corresponds to a vertex of the graph and edges in the graph represent…
We introduce the concept of continuous transportation task to the context of multi-agent systems. A continuous transportation task is one in which a multi-agent team visits a number of fixed locations, picks up objects, and delivers them to…
Given an $x$-monotone polygonal chain $T$ with $n$ vertices, and an integer $k$, we consider the problem of finding the lowest horizontal line $L$ lying above $T$ with $k$ point guards lying on $L$, so that every point on the chain is…
We consider a resource allocation problem involving a large number of agents with individual constraints subject to privacy, and a central operator whose objective is to optimize a global, possibly nonconvex, cost while satisfying the…
This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…
This thesis focuses on two concepts which are widely studied in the field of computational geometry. Namely, visibility and unit disk graphs. In the field of visibility, we have studied the conflict-free chromatic guarding of polygons, for…
We consider the fundamental task of network exploration. A network is modeled as a simple connected undirected n-node graph with unlabeled nodes, and all ports at any node of degree d are arbitrarily numbered 0,.....,d-1. Each of two…
This is a complete version of the 6-page IEEE TAC technical note [1]. In this paper, we consider the distributed surrounding of a convex target set by a group of agents with switching communication graphs. We propose a distributed…
The collaboration between agents has gradually become an important topic in multi-agent systems. The key is how to efficiently solve the credit assignment problems. This paper introduces MGAN for collaborative multi-agent reinforcement…
In this paper, we consider the problem of exploring unknown environments with autonomous agents. We model the environment as a graph with edge weights and analyze the task of visiting all vertices of the graph at least once. The hardness of…
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…
The dispersion problem has received much attention recently in the distributed computing literature. In this problem, $k\leq n$ agents placed initially arbitrarily on the nodes of an $n$-node, $m$-edge anonymous graph of maximum degree…
We consider the problem of finding a treasure at an unknown point of an $n$-dimensional infinite grid, $n\geq 3$, by initially collocated finite state agents (scouts/robots). Recently, the problem has been well characterized for 2…
Suppose that a fence needs to be protected (perpetually) by $k$ mobile agents with maximum speeds $v_1,\ldots,v_k$ so that no point on the fence is left unattended for more than a given amount of time. The problem is to determine if this…
This paper proposes an exploration technique for multi-agent reinforcement learning (MARL) with graph-based communication among agents. We assume the individual rewards received by the agents are independent of the actions by the other…
This article considers the problem of conflict-free distribution of point-sized agents on a circular periphery encompassing all agents. The two key elements of the proposed policy include the construction of a set of convex layers (nested…