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This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
This work presents a distributed estimation algorithm that efficiently uses the available communication resources. The approach is based on Bayesian filtering that is distributed across a network by using the logarithmic opinion pool…
For effective human-agent teaming, robots and other artificial intelligence (AI) agents must infer their human partner's abilities and behavioral response patterns and adapt accordingly. Most prior works make the unrealistic assumption that…
Competitive non-cooperative online decision-making agents whose actions increase congestion of scarce resources constitute a model for widespread modern large-scale applications. To ensure sustainable resource behavior, we introduce a novel…
Purpose of review: Recent advances in sensing, actuation, and computation have opened the door to multi-robot systems consisting of hundreds/thousands of robots, with promising applications to automated manufacturing, disaster relief,…
We study the problem of distributed state estimation in a network of sensing units that can exchange their measurements but the rate of communication between the units is constrained. The units collect noisy, possibly only partial…
In this paper, we develop a computational framework for fully automatic deployment of a team of unicycles from a global specification given as an LTL formula over some regions of interest. Our hierarchical approach consists of four steps:…
This technical note studies the reliability limits of LLM-based multi-agent planning as a delegated decision problem. We model the LLM-based multi-agent architecture as a finite acyclic decision network in which multiple stages process…
We present a novel reinforcement learning (RL) based task allocation and decentralized navigation algorithm for mobile robots in warehouse environments. Our approach is designed for scenarios in which multiple robots are used to perform…
RoboCup represents an International testbed for advancing research in AI and robotics, focusing on a definite goal: developing a robot team that can win against the human world soccer champion team by the year 2050. To achieve this goal,…
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…
As next generation cellular networks become denser, associating users with the optimal base stations at each time while ensuring no base station is overloaded becomes critical for achieving stable and high network performance. We propose…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
One of the goals of active information acquisition using multi-robot teams is to keep the relative uncertainty in each region at the same level to maintain identical acquisition quality (e.g., consistent target detection) in all the…
We formulate computation offloading as a decentralized decision-making problem with autonomous agents. We design an interaction mechanism that incentivizes agents to align private and system goals by balancing between competition and…
Effective problem solving among multiple agents requires a better understanding of the role of communication in collaboration. In this paper we show that there are communicative strategies that greatly improve the performance of…
We study multi-hop data-dissemination in a wireless network from one source to multiple nodes where some of the nodes of the network act as re-transmitting nodes and help the source in data dissemination. In this network, we study two…
Effective communication is required for teams of robots to solve sophisticated collaborative tasks. In practice it is typical for both the encoding and semantics of communication to be manually defined by an expert; this is true regardless…
Robot interfaces often only use the visual channel. Inspired by Wickens' Multiple Resource Theory, we investigated if the addition of audio elements would reduce cognitive workload and improve performance. Specifically, we designed a search…