Related papers: Cooperative Localization and Multitarget Tracking …
LLM-based multi-agent systems have demonstrated significant capabilities across diverse domains. However, the task performance and efficiency are fundamentally constrained by their collaboration strategies. Prevailing approaches rely on…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the…
We show that the sensor self-localization problem can be cast as a static parameter estimation problem for Hidden Markov Models and we implement fully decentralized versions of the Recursive Maximum Likelihood and on-line…
In this note, the coordination of linear discrete-time multi-agent systems over digital networks is investigated with unmeasurable states in agents' dynamics. The quantized-observer based communication protocols and Certainty Equivalence…
This paper introduces a decentralized multi-agent reinforcement learning framework enabling structurally heterogeneous teams of agents to jointly discover and acquire randomly located targets in environments characterized by partial…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
This report surveys results on distributed systems comprising mobile agents that are identical and anonymous, oblivious and interact solely by adjusting their motion according to the relative location of their neighbours. The agents are…
We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents subject to individual constraints. In the scheme, we explore…
Autonomous exploration and multi-object tracking by a team of agents have traditionally been considered as two separate, yet related, problems which are usually solved in two phases: an exploration phase then a tracking phase. The…
In this paper we develop a method for planning and coordinating a multi-agent team deployment to periodically gather information on demand. A static operation center (OC) periodically requests information from changing goal locations. The…
We consider multitarget detection and tracking problem for a class of multipath detection system where one target may generate multiple measurements via multiple propagation paths, and the association relationship among targets,…
This paper presents a cooperative multi-robot multi-target tracking framework aimed at enhancing the efficiency of the heterogeneous sensor network and, consequently, improving overall target tracking accuracy. The concept of normalized…
In target tracking with mobile multi-sensor systems, sensor deployment impacts the observation capabilities and the resulting state estimation quality. Based on a partially observable Markov decision process (POMDP) formulation comprised of…
This paper studies a coordinate alignment problem for cooperative mobile sensor network localization with range-based measurements. The network consists of target nodes, each of which has only access position information in a local fixed…
Cooperative behavior design for multi-agent systems with collective tasks is a critical issue in promoting swarm intelligence. This paper investigates cooperative control for a multi-channel system, where each channel is managed by an agent…
In this paper, we present a distributed estimation setup where local agents estimate their states from relative measurements received from their neighbours. In the case of heterogeneous multi-agent systems, where only relative measurements…
Multi-agent systems are prevalent in a wide range of domains including power systems, vehicular networks, and robotics. Two important problems to solve in these types of systems are how the intentions of non-coordinating agents can be…
We consider the problem of tracking multiple, unknown, and time-varying numbers of objects using a distributed network of heterogeneous sensors. In an effort to derive a formulation for practical settings, we consider limited and unknown…
In this paper, we present an algorithm which lies in the domain of task allocation for a set of static autonomous radars with rotating antennas. It allows a set of radars to allocate in a fully decentralized way a set of active tracking…
This paper considers the data association problem for multi-target tracking. Multiple hypothesis tracking is a popular algorithm for solving this problem but it is NP-hard and is is quite complicated for a large number of targets or for…