Related papers: Distributed Strategies for Dynamic Coverage with L…
It has long been a prominent challenge in multi-agent systems to achieve distributed coverage of non-convex annulus environments while ensuring workload equalization among agents. To address this challenge, a distributed circumferential…
This work develops a distributed optimization algorithm for multi-robot 3-D semantic mapping using streaming range and visual observations and single-hop communication. Our approach relies on gradient-based optimization of the observation…
In this paper we propose and analyze a distributed algorithm for achieving globally optimal decisions, either estimation or detection, through a self-synchronization mechanism among linearly coupled integrators initialized with local…
This thesis is concerned with distributed control and coordination of networks consisting of multiple, potentially mobile, agents. This is motivated mainly by the emergence of large scale networks characterized by the lack of centralized…
This paper discusses dynamical systems for disk-covering and sphere-packing problems. We present facility location functions from geometric optimization and characterize their differentiable properties. We design and analyze a collection of…
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…
In this paper, a class of convex feasibility problems (CFPs) are studied for multi-agent systems through local interactions. The objective is to search a feasible solution to the convex inequalities with some set constraints in a…
In this paper, we present a distributed algorithm which implements the $k$-means algorithm in a distributed fashion for multi-agent systems with directed communication links. The goal of $k$-means is to partition the network's agents in…
This note is devoted to the distributed optimization problem of multi-agent systems with nonconvex velocity constraints, nonuniform position constraints and nonuniform stepsizes. Two distributed constrained algorithms with nonconvex…
We propose efficient distributed algorithms to aid navigation of a user through a geographic area covered by sensors. The sensors sense the level of danger at their locations and we use this information to find a safe path for the user…
We consider the distributed optimization problem, where a group of agents work together to optimize a common objective by communicating with neighboring agents and performing local computations. For a given algorithm, we use tools from…
This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to…
Despite significant advances on distributed continuous-time optimization of multi-agent networks, there is still lack of an efficient algorithm to achieve the goal of distributed optimization at a pre-specified time. Herein, we design a…
In this paper, we propose a distributed algorithm for the minimum dominating set problem. For some especial networks, we prove theoretically that the achieved answer by our proposed algorithm is a constant approximation factor of the exact…
This paper presents a distributed continuous-time optimization framework aimed at overcoming the challenges posed by time-varying cost functions and constraints in multi-agent systems, particularly those subject to disturbances. By…
This paper considers the problem of detecting impaired and noisy nodes over network. In a distributed algorithm, lots of processing units are incorporating and communicating with each other to reach a global goal. Due to each one's state in…
This paper proposes networked dynamics to solve resource allocation problems over time-varying multi-agent networks. The state of each agent represents the amount of used resources (or produced utilities) while the total amount of resources…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
With the advances in sensors and computer networks an increased number of Mixed Reality (MR) applications require large amounts of information from the real world. Such information is collected through sensors (e.g. position and orientation…
We propose a novel distributed expectation maximization (EM) method for non-cooperative RF device localization using a wireless sensor network. We consider the scenario where few or no sensors receive line-of-sight signals from the target.…