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This report surveys results on distributed systems comprising mobile agents that are identical and anonymous, oblivious and interact solely by adjusting their motion according to the relative location of their neighbours. The agents are…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
Tracking multiple targets in dynamic environments using distributed sensor networks is a fundamental problem in statistical signal processing. In such scenarios, the network of mobile sensors must coordinate their actions to accurately…
Multi-agent systems are being increasingly deployed in challenging environments for performing complex tasks such as multi-target tracking, search-and-rescue, and intrusion detection. Notwithstanding the computational limitations of…
In this paper, we present a randomized version of the finite set statistics (FISST) Bayesian recursions for multi-object tracking problems. We propose a hypothesis level derivation of the FISST equations that shows that the multi-object…
To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…
In this paper, containment control of multi-agent systems with measurement noises is studied under directed networks. When the leaders are stationary, a stochastic approximation type protocol is employed to solve the containment control of…
We consider the problem of 20 questions with noise for multiple players under the minimum entropy criterion in the setting of stochastic search, with application to target localization. Each player yields a noisy response to a binary query…
This paper considers the problem of autonomous multi-agent cooperative target search in an unknown environment using a decentralized framework under a no-communication scenario. The targets are considered as static targets and the agents…
In this paper, sensor selection problems for target tracking in large sensor networks with linear equality or inequality constraints are considered. First, we derive an equivalent Kalman filter for sensor selection, i.e., generalized…
In this paper, a novel approach is proposed for multi-target joint detection, tracking and classification based on the labeled random finite set and generalized Bayesian risk using Radar and ESM sensors. A new Bayesian risk is defined for…
Multi-time-scale stochastic approximation is an iterative algorithm for finding the fixed point of a set of $N$ coupled operators given their noisy samples. It has been observed that due to the coupling between the decision variables and…
A large-scale multi-object tracker based on the generalised labeled multi-Bernoulli (GLMB) filter is proposed. The algorithm is capable of tracking a very large, unknown and time-varying number of objects simultaneously, in the presence of…
This paper is concerned with the problem of distributed extended object tracking, which aims to collaboratively estimate the state and extension of an object by a network of nodes. In traditional tracking applications, most approaches…
We present a novel formulation of the multiple object tracking problem which integrates low and mid-level features. In particular, we formulate the tracking problem as a quadratic program coupling detections and dense point trajectories.…
In this paper, we propose an approximate Bayesian computation approach to perform a multiple target tracking within a binary sensor network. The nature of the binary sensors (getting closer - moving away information) do not allow the use of…
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of followers has access to the state of the leader. The control…
Multi-agent routing problems have gained significant attention recently due to their wide range of industrial applications, ranging from logistics warehouse automation to indoor service robots. Conventionally, they are modeled as classical…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…