Related papers: Decentralized Search and Track with Multiple Auton…

A crucial challenge in decentralized systems is state estimation in the presence of unknown inputs, particularly within heterogeneous sensor networks with dynamic topologies. While numerous consensus algorithms have been introduced, they…

Multi-hypothesis tracking is a flexible and intuitive approach to tracking multiple nearby objects. However, the original formulation of its data association step is widely thought to scale poorly with the number of tracked objects. We…

We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures.…

Stealthy multi-agent active search is the problem of making efficient sequential data-collection decisions to identify an unknown number of sparsely located targets while adapting to new sensing information and concealing the search agents'…

This paper presents a novel coverage control algorithm for multi-agent systems, where each agent has no prior knowledge of the specific region to be covered. The proposed method enables agents to autonomously detect the target area and…

Cooperative pathfinding is a multi-agent path planning problem where a group of vehicles searches for a corresponding set of non-conflicting space-time trajectories. Many of the practical methods for centralized solving of cooperative…

We consider a multi-agent reinforcement learning problem where each agent seeks to maximize a shared reward while interacting with other agents, and they may or may not be able to communicate. Typically the agents do not have access to…

Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…

Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…

Anticipating possible future deployment of connected and automated vehicles (CAVs), cooperative autonomous driving at intersections has been studied by many works in control theory and intelligent transportation across decades.…

The problem of near-optimal distributed path planning to locally sensed targets is investigated in the context of large swarms. The proposed algorithm uses only information that can be locally queried, and rigorous theoretical results on…

This paper addresses the problem of decentralized state-tracking in the presence of sensor attacks. We consider a network of nodes where each node has the objective of tracking the state of a linear dynamical system based on its…

In multi-target tracking, sensor control involves dynamically configuring sensors to achieve improved tracking performance. Many of these techniques focus on sensors with memoryless states (e.g., waveform adaptation, beam scheduling, and…

Exploring robust and efficient association methods has always been an important issue in multiple-object tracking (MOT). Although existing tracking methods have achieved impressive performance, congestion and frequent occlusions still pose…

Multi-agent active search requires autonomous agents to choose sensing actions that efficiently locate targets. In a realistic setting, agents also must consider the costs that their decisions incur. Previously proposed active search…

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…

Cooperative multi-agent reinforcement learning is a powerful tool to solve many real-world cooperative tasks, but restrictions of real-world applications may require training the agents in a fully decentralized manner. Due to the lack of…

The paper presents a new method, SearchTrack, for multiple object tracking and segmentation (MOTS). To address the association problem between detected objects, SearchTrack proposes object-customized search and motion-aware features. By…

Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…

In order to collaborate efficiently with unknown partners in cooperative control settings, adaptation of the partners based on online experience is required. The rather general and widely applicable control setting, where each cooperation…