Related papers: Distributed Multirobot Control for Non-Cooperative…
This paper focuses on the distributed optimization of stochastic saddle point problems. The first part of the paper is devoted to lower bounds for the centralized and decentralized distributed methods for smooth (strongly) convex-(strongly)…
This paper presents a novel approach that allows a swarm of heterogeneous robots to produce simultaneously segregative and flocking behaviors using only local sensing. These behaviors have been widely studied in swarm robotics and their…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
Legged locomotion is widespread in nature and has inspired the design of current robots. The controller of these legged robots is often realized as one centralized instance. However, in nature, control of movement happens in a hierarchical…
The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…
We consider the problem of finding distributed controllers for large networks of mobile robots with interacting dynamics and sparsely available communications. Our approach is to learn local controllers that require only local information…
This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…
This paper investigates the distributed online optimization problem over a multi-agent network subject to local set constraints and coupled inequality constraints, which has a lot of applications in many areas, such as wireless sensor…
Multi-robot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multi-robot team for…
We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot…
Cooperative driving at isolated intersections attracted great interest and had been well discussed in recent years. However, cooperative driving in multi-intersection road networks remains to be further investigated, because many algorithms…
In this paper, we present a solution to a design problem of control strategies for multi-agent cooperative transport. Although existing learning-based methods assume that the number of agents is the same as that in the training environment,…
Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding…
We develop and analyze algorithms for dispersing a swarm of primitive robots in an unknown environment, R. The primary objective is to minimize the makespan, that is, the time to fill the entire region. An environment is composed of pixels…
Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…
Consider a swarm of particles controlled by global inputs. This paper presents algorithms for shaping such swarms in 2D using boundary walls. The range of configurations created by conforming a swarm to a boundary wall is limited. We…
This paper proposes a new algorithm for collision-free coverage control of multiple non-cooperating swarms in the presence of bounded disturbances. A new methodology is introduced that accounts for uncertainties in disturbance measurements.…
We characterize the advantage of using a robot's neighborhood to find and eliminate adversarial robots in the presence of a Sybil attack. We show that by leveraging the opinions of its neighbors on the trustworthiness of transmitted data,…
Navigation in cluttered underwater environments is challenging, especially when there are constraints on communication and self-localisation. Part of the fully distributed underwater navigation problem has been resolved by introducing…
In this paper, we propose a coverage control system for a multi-robot team with heterogeneous capabilities to patrol or monitor a bounded environment. The capability could be defined as any criterion of robots like remaining power or mobile…