Related papers: Optimal Physical Sorting of Mobile Agents
This work views the multi-agent system and its surrounding environment as a co-evolving system, where the behavior of one affects the other. The goal is to take both agent actions and environment configurations as decision variables, and…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
Two mobile agents, starting from different nodes of an $n$-node network at possibly different times, have to meet at the same node. This problem is known as rendezvous. Agents move in synchronous rounds using a deterministic algorithm. In…
We consider the information design problem in spatial resource competition settings. Agents gather at a location deciding whether to move to another location for possibly higher level of resources, and the utility each agent gets by moving…
Multi-robot teams must coordinate to operate effectively. When a team operates in an uncoordinated manner, and agents choose actions that are only individually optimal, the team's outcome can suffer. However, in many domains, coordination…
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…
Optimal transport is a framework that facilitates the most efficient allocation of a limited amount of resources. However, the most efficient allocation scheme does not necessarily preserve the most fairness. In this paper, we establish a…
This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information.…
We consider the facility location problem in the one-dimensional setting where each facility can serve a limited number of agents from the algorithmic and mechanism design perspectives. From the algorithmic perspective, we prove that the…
Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…
In this work, we study the problem where a group of mobile agents needs to reach a set of goal locations, but it does not matter which agent reaches a specific goal. Unlike most of the existing works on this topic that typically assume the…
A basic task in the design of a robotic production cell is the relative placement of robot and workpiece. The fundamental requirement is that the robot can reach all process positions; only then one can think of further optimization.…
This paper presents the formulation and analysis of a two time-scale optimization algorithm for multi-agent coordination for the purpose of distributed beamforming. Each agent is assumed to be randomly positioned with respect to each other…
We consider the problem of minimizing the worst-case search time for a hidden point target in the plane using multiple mobile agents of differing speeds, all starting from a common origin. The search time is normalized by the target's…
We propose an algorithm for distributed optimization over time-varying communication networks. Our algorithm uses an optimized ratio between the number of rounds of communication and gradient evaluations to achieve fast convergence. The…
Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…
We present the first in-place algorithm for sorting an array of size n that performs, in the worst case, at most O(n log n) element comparisons and O(n) element transports. This solves a long-standing open problem, stated explicitly, e.g.,…
We empirically study sorting in the evolving data model. In this model, a sorting algorithm maintains an approximation to the sorted order of a list of data items while simultaneously, with each comparison made by the algorithm, an…
We introduce a dynamic mechanism design problem in which the designer wants to offer for sale an item to an agent, and another item to the same agent at some point in the future. The agent's joint distribution of valuations for the two…
We consider the problem of decentralized optimization where a collection of agents, each having access to a local cost function, communicate over a time-varying directed network and aim to minimize the sum of those functions. In practice,…