Related papers: Decentralized and Communication-Free Multi-Robot N…
We address the generalized Nash equilibrium seeking problem for a population of agents playing aggregative games with affine coupling constraints. We focus on semi-decentralized communication architectures, where there is a central…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
Decentralized air traffic management systems offer a scalable alternative to centralized control, but often assume high levels of cooperation. In practice, such assumptions frequently break down since airspace sectors operate independently…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
Many reality tasks such as robot coordination can be naturally modelled as multi-agent cooperative system where the rewards are sparse. This paper focuses on learning decentralized policies for such tasks using sub-optimal demonstration. To…
When teams of robots collaborate to complete a task, communication is often necessary. Like humans, robot teammates should implicitly communicate through their actions: but interpreting our partner's actions is typically difficult, since a…
Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…
Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions as a means to cope with the lack of a central system coordinating the efforts of all robots. Especially in complex…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
Multi-agent games in dynamic nonlinear settings are challenging due to the time-varying interactions among the agents and the non-stationarity of the (potential) Nash equilibria. In this paper we consider model-free games, where agent…
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…
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…
Learning in games provides a powerful framework to design control policies for self-interested agents that may be coupled through their dynamics, costs, or constraints. We consider the case where the dynamics of the coupled system can be…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
This paper presents a game theoretic solution for joint channel allocation and power control in cognitive radio networks analyzed under the physical interference model. The objective is to find a distributed solution that maximizes the…
In this paper, Nash equilibrium seeking among a network of players is considered. Different from many existing works on Nash equilibrium seeking in non-cooperative games, the players considered in this paper cannot directly observe the…
Visual navigation tasks are critical for household service robots. As these tasks become increasingly complex, effective communication and collaboration among multiple robots become imperative to ensure successful completion. In recent…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…