Related papers: Multi-Agent Distributed and Decentralized Geometri…
Multi Agent Path Finding (MAPF) requires identification of conflict free paths for agents which could be point-sized or with dimensions. In this paper, we propose an approach for MAPF for spatially-extended agents. These find application in…
We propose an optimal solution to a deterministic dynamic assignment problem by leveraging connections to the theory of discrete optimal transport to convert the combinatorial assignment problem into a tractable linear program. We seek to…
We introduce a novel distributed sampled-data control method tailored for heterogeneous multi-agent systems under a global spatio-temporal task with acyclic dependencies. Specifically, we consider the global task as a conjunction of…
One of the most essential prerequisites behind a successful task execution of a team of agents is to accurately estimate and track their poses. We consider a cooperative multi-agent positioning problem where each agent performs single-agent…
Autonomous exploration is an application of growing importance in robotics. A promising strategy is ergodic trajectory planning, whereby an agent spends in each area a fraction of time which is proportional to its probability information…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
This study proposes a distributed algorithm that makes agents' adaptive grouping entrap multiple targets via automatic decision making, smooth flocking, and well-distributed entrapping. Agents make their own decisions about which targets to…
We consider the following problem - a group of mobile agents perform some task on a terrain modeled as a graph. In a given moment of time an adversary gets an access to the graph and positions of the agents. Shortly before adversary's…
Resource allocation and scheduling in multi-agent systems present challenges due to complex interactions and decentralization. This survey paper provides a comprehensive analysis of distributed algorithms for addressing the distributed…
Coordinating multiple autonomous agents in shared environments under decentralized conditions is a long-standing challenge in robotics and artificial intelligence. This work addresses the problem of decentralized goal assignment for…
Spatial multi-agency has been receiving growing attention from researchers exploring many of the aspects and modalities of this phenomenon. The aim is to develop the theoretical background needed for a multitude of applications involving…
We consider a resource allocation problem over an undirected network of agents, where edges of the network define communication links. The goal is to minimize the sum of agent-specific convex objective functions, while the agents' decisions…
In this paper, a distributed convex optimization problem with swarm tracking behavior is studied for continuous-time multi-agent systems. The agents' task is to drive their center to track an optimal trajectory which minimizes the sum of…
In this research we use a decentralized computing approach to allocate and schedule tasks on a massively distributed grid. Using emergent properties of multi-agent systems, the algorithm dynamically creates and dissociates clusters to serve…
Autonomous wireless agents such as unmanned aerial vehicles or mobile base stations present a great potential for deployment in next-generation wireless networks. While current literature has been mainly focused on the use of agents within…
We present a method for solving service allocation problems in which a set of services must be allocated to a set of agents so as to maximize a global utility. The method is completely distributed so it can scale to any number of services…
In this paper we study the problem of cooperative searching and tracking (SAT) of multiple moving targets with a group of autonomous mobile agents that exhibit limited sensing capabilities. We assume that the actual number of targets is not…
We consider a scenario in which leaders are required to recruit teams of followers. Each leader cannot recruit all followers, but interaction is constrained according to a bipartite network. The objective for each leader is to reach a state…
With the rapid advancement of mobile networks and the widespread use of mobile devices, spatial crowdsourcing, which involves assigning location-based tasks to mobile workers, has gained significant attention. However, most existing…
In this work, we design distributed control laws for spatial self-organization of multi-agent swarms in 1D and 2D spatial domains. The objective is to achieve a desired density distribution over a simply-connected spatial domain. Since…