Related papers: Team Coordination on Graphs with State-Dependent E…
Coordinating multiple interacting agents to achieve a common goal is a difficult task with huge applicability. This problem remains hard to solve, even when limiting interactions to be mediated via a static interaction-graph. We present a…
Simultaneous trajectory prediction for multiple heterogeneous traffic participants is essential for the safe and efficient operation of connected automated vehicles under complex driving situations in the real world. The multi-agent…
Path planning is a fundamental and extensively explored problem in robotic control. We present a novel economic perspective on path planning. Specifically, we investigate strategic interactions among path planning agents using a game…
We study the so-called dynamic coverage problem by agents located in some topological graph. The agents must visit all regions of interest but they also should stay connected to the base via multi-hop. We prove that the algorithmic…
Predicting future motions of road participants is an important task for driving autonomously. Most existing models excel at predicting the marginal trajectory of a single agent, but predicting joint trajectories for multiple agents that are…
Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…
This paper considers a distributed optimization problem over a multi-agent network, in which the objective function is a sum of individual cost functions at the agents. We focus on the case when communication between the agents is described…
Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…
In this paper we study the optimal formation control of multiple agents whose interaction parameters are adjusted upon a cost function consisting of both the control energy and the geometrical performance. By optimizing the interaction…
We introduce and study the multi-agent stochastic shortest path (MSSP) problem, in which $k$ agents strive to reach a target state, aiming to minimize the expected time to reach the target by any agent. We analyze the computational and…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
Consider the following problem: given a graph with edge costs and a subset Q of vertices, find a minimum-cost subgraph in which there are two edge-disjoint paths connecting every pair of vertices in Q. The problem is a failure-resilient…
We consider minimizing a sum of agent-specific nondifferentiable merely convex functions over the solution set of a variational inequality (VI) problem in that each agent is associated with a local monotone mapping. This problem finds an…
Motivated by the classic Generalized Assignment Problem, we consider the Graph Balancing problem in the presence of orientation costs: given an undirected multi-graph G = (V,E) equipped with edge weights and orientation costs on the edges,…
We present a message-passing algorithm to solve the edge disjoint path problem (EDP) on graphs incorporating under a unique framework both traffic optimization and path length minimization. The min-sum equations for this problem present an…
The improvement of traffic efficiency at urban intersections receives strong research interest in the field of automated intersection management. So far, mostly non-learning algorithms like reservation or optimization-based ones were…
This work addresses the edge-based synchronization problem in first-order multi-agent systems containing both cooperative and antagonistic interactions with one or multiple leader groups. The presence of multiple leaders and antagonistic…
We address a problem of area protection in graph-based scenarios with multiple mobile agents where connectivity is maintained among agents to ensure they can communicate. The problem consists of two adversarial teams of agents that move in…
We study the parameterized complexity of interdiction problems in graphs. For an optimization problem on graphs, one can formulate an interdiction problem as a game consisting of two players, namely, an interdictor and an evader, who…