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We present a multi-agent system where agents can cooperate to solve a system of dependent tasks, with agents having the capability to explore a solution space, make inferences, as well as query for information under a limited budget.…
In multi-agent systems, strong connectivity of the communication network is often crucial for establishing consensus protocols, which underpin numerous applications in decision-making and distributed optimization. However, this connectivity…
Man-made and natural disruptions such as planned constructions on roads, suspensions of bridges, and blocked roads by trees/mudslides/floods can often create obstacles that separate two connected regions. As a result, the traveling and…
We study the multi-agent Smoothed Online Convex Optimization (SOCO) problem, where $N$ agents interact through a communication graph. In each round, each agent $i$ receives a strongly convex hitting cost function $f^i_t$ in an online…
We investigate multi-agent navigation tasks, where multiple agents need to reach initially unassigned goals in a limited time. Classical planning-based methods suffer from expensive computation overhead at each step and offer limited…
In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free…
Distributing computations among agents in large networks reduces computational effort in multi-agent path finding (MAPF). One distribution strategy is prioritized planning (PP). In PP, we couple and prioritize interacting agents to achieve…
We study the problem of optimizing subgraph queries using the new worst-case optimal join plans. Worst-case optimal plans evaluate queries by matching one query vertex at a time using multiway intersections. The core problem in optimizing…
In many settings, people exhibit behavior that is inconsistent across time --- we allocate a block of time to get work done and then procrastinate, or put effort into a project and then later fail to complete it. An active line of research…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the…
By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-agent path planning method. We have identified a particular…
This paper addresses the task of joint multi-agent perception and planning, especially as it relates to the real-world challenge of collision-free navigation for connected self-driving vehicles. For this task, several communication-enabled…
We consider the problem of determining the optimal composition of a heterogeneous multi-agent team for coverage problems by including costs associated with different agents and subject to an upper bound on the maximal allowable number of…
We investigate the distributed multi-agent sharing optimization problem in a directed graph, with a composite objective function consisting of a smooth function plus a convex (possibly non-smooth) function shared by all agents. While…
Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…
Everyone puts things off sometimes. How can we combat this tendency to procrastinate? A well-known technique used by instructors is to break up a large project into more manageable chunks. But how should this be done best? Here we study the…
The majority of multi-agent path finding (MAPF) methods compute collision-free space-time paths which require agents to be at a specific location at a specific discretized timestep. However, executing these space-time paths directly on…
The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten…
In numerous artificial intelligence applications, the collaborative efforts of multiple intelligent agents are imperative for the successful attainment of target objectives. To enhance coordination among these agents, a distributed…
The evolving landscape of edge computing envisions platforms operating as dynamic intermediaries between application providers and edge servers (ESs), where task offloading is coupled with payments for computational services. Ensuring…