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Coordinating a fully distributed multi-agent system (MAS) can be challenging when the communication channel has very limited capabilities in terms of sending rate and packet payload. When the MAS has to deal with active obstacles in a…
Self Organizing Migrating Algorithm (SOMA) is a meta-heuristic algorithm based on the self-organizing behavior of individuals in a simulated social environment. SOMA performs iterative computations on a population of potential solutions in…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
Modern artificial intelligence relies on networks of agents that collect data, process information, and exchange it with neighbors to collaboratively solve optimization and learning problems. This article introduces a novel distributed…
Multi-agent pathfinding (MAPF) remains a critical problem in robotics and autonomous systems, where agents must navigate shared spaces efficiently while avoiding conflicts. Traditional centralized algorithms with global information provide…
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…
Cloud computing is a model for enabling on-demand network access to a shared pool of computing resources, that can be dynamically allocated and released with minimal effort. However, this task can be complex in highly dynamic environments…
We introduce a new problem formulation, Double-Deck Multi-Agent Pickup and Delivery (DD-MAPD), which models the multi-robot shelf rearrangement problem in automated warehouses. DD-MAPD extends both Multi-Agent Pickup and Delivery (MAPD) and…
We consider a setting with an evolving set of requests for transportation from an origin to a destination before a deadline and a set of agents capable of servicing the requests. In this setting, an assignment authority is to assign agents…
This paper focuses on the optimal coverage problem (OCP) for multi-agent systems with a decentralized optimization mechanism. A game based distributed decision-making method for the multi-agent OCP is proposed to address the high…
We present NodeOP, a novel framework designed to optimize the management of General Node Operators in decentralized networks. By integrating Agent-Based Modeling (ABM) with a Tendermint Byzantine Fault Tolerance (BFT)-based consensus…
We propose a novel method for expediting both symmetric and asymmetric Distributed Constraint Optimization Problem (DCOP) solvers. The core idea is based on initializing DCOP solvers with greedy fast non-iterative DCOP solvers. This is…
The size and capabilities of Earth-observing satellite constellations are rapidly increasing. Leveraging distributed onboard control, we can enable novel time-sensitive measurements and responses. However, deploying autonomy to large…
Mobile edge computing seeks to provide resources to different delay-sensitive applications. However, allocating the limited edge resources to a number of applications is a challenging problem. To alleviate the resource scarcity problem, we…
Resource allocation problems in many computer systems can be formulated as mathematical optimization problems. However, finding exact solutions to these problems using off-the-shelf solvers in an online setting is often intractable for…
Many real-world multi-agent systems exhibit nonlinear dynamics and complex inter-agent interactions. As these systems increase in scale, the main challenges arise from achieving scalability and handling nonconvexity. To address these…
Multi-agent planning (MAP) approaches have been typically conceived for independent or loosely-coupled problems to enhance the benefits of distributed planning between autonomous agents as solving this type of problems require less…
This thesis explores a particular class of distributed optimization methods for various separable resource allocation problems, which are of high interest in a wide array of multi-agent settings. A distinctly motivating application for this…
This paper addresses the sweep coverage problem of multi-agent systems in uncertain regions. A new formulation of distributed sweep coverage is proposed to cooperatively complete the workload in the uncertain region. Specifically, each…
With the rise of distributed energy resources and sector coupling, distributed optimization can be a sensible approach to coordinate decentralized energy resources. Further, district heating, heat pumps, cogeneration, and sharing concepts…