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The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing. This article addresses an important case where each agent in…
We consider a gossiping network where a source forwards updates to a set of $n$ gossiping nodes that are placed in an arbitrary graph structure and gossip with their neighbors. In this paper, we analyze how mobility of nodes affects the…
A distributed adaptive algorithm to estimate a time-varying signal, measured by a wireless sensor network, is designed and analyzed. One of the major features of the algorithm is that no central coordination among the nodes needs to be…
Different from most existing distributed localization approaches in static networks where the agents in a network are static, this paper addresses the distributed localization problem in dynamic networks where the positions of the agents…
Gossipping has demonstrate to be an efficient mechanism for spreading information among P2P networks. Within the context of P2P computing, we propose the so-called Evolvable Agent Model for distributed population-based algorithms which uses…
We study gossip algorithms for the rumor spreading problem which asks one node to deliver a rumor to all nodes in an unknown network. We present the first protocol for any expander graph $G$ with $n$ nodes such that, the protocol informs…
Gossiping is a communication mechanism, used for fast information dissemination in a network, where each node of the network randomly shares its information with the neighboring nodes. To characterize the notion of fastness in the context…
Location-based services in a wireless network require nodes to know their locations accurately. Conventional solutions rely on contention-based medium access, where only one node can successfully transmit at any time in any neighborhood. In…
Many significant functionalities of vehicular ad hoc networks (VANETs) require that nodes have knowledge of the positions of other vehicles, and notably of those within communication range. However, adversarial nodes could provide false…
We consider a fully distributed constrained convex optimization problem over a multi-agent (no central coordinator) network. We propose an asynchronous gossip-based random projection (GRP) algorithm that solves the distributed problem using…
Eigenvectors of data matrices play an important role in many computational problems, ranging from signal processing to machine learning and control. For instance, algorithms that compute positions of the nodes of a wireless network on the…
We study distributed methods for online prediction and stochastic optimization. Our approach is iterative: in each round nodes first perform local computations and then communicate in order to aggregate information and synchronize their…
A distributed pose localization framework based on direction measurements is proposed for a type of \textit{leader-follower} multi-agent systems in $\mathbb{R}^3$. The novelty of the proposed localization method lies in the elimination of…
Many localization algorithms and systems have been developed by means of wireless sensor networks for both indoor and outdoor environments. To achieve higher localization accuracy, extra hardware equipments are utilized by most of the…
In this paper we present various distributed algorithms for LP-type problems in the well-known gossip model. LP-type problems include many important classes of problems such as (integer) linear programming, geometric problems like smallest…
We develop a simple and generic method to analyze randomized rumor spreading processes in fully connected networks. In contrast to all previous works, which heavily exploit the precise definition of the process under investigation, we only…
We investigate how suitable a weighted network is for gossip spreading. The proposed model is based on the gossip spreading model introduced by Lind et.al. on unweighted networks. Weight represents "friendship." Potential spreader prefers…
This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…
A practical challenge which arises in the operation of sensor networks is the presence of sensor faults, biases, or adversarial attacks, which can lead to significant errors incurring in the localization of the agents, thereby undermining…
Beacon node placement, node-to-node measurement, and target node positioning are the three key steps for a localization process. However, compared with the other two steps, beacon node placement still lacks a comprehensive, systematic study…