Related papers: Communication-Free Bearing-Only Distributed Target…
We present a scalable distributed target tracking algorithm based on the alternating direction method of multipliers that is well-suited for a fleet of autonomous cars communicating over a vehicle-to-vehicle network. Each sensing vehicle…
Distributed formation maneuver control refers to the problem of maneuvering a group of agents to change their formation shape by adjusting the motions of partial agents, where the controller of each agent only requires local information…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
In this paper, we investigate the distributed optimal control problem for a kind of nonlinear multi-agent systems. In particular,both the state and the system dynamic structures of each agent are private and can only be shared among…
This paper addresses the problem of localizing an unknown number of targets, all having the same radar signature, by a distributed MIMO radar consisting of single antenna transmitters and receivers that cannot determine directions of…
Coverage control algorithms have traditionally focused on static target densities, where agents are deployed to optimally cover a fixed spatial distribution. However, many applications involve time-varying densities, including environmental…
We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…
We consider a scenario in which leaders are required to recruit teams of followers. Each leader cannot recruit all followers, but interaction is constrained according to a bipartite network. The objective for each leader is to reach a state…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
Self-navigation in non-coordinating crowded environments is formidably challenging within multi-agent systems consisting of non-holonomic robots operating through local sensing. Our primary objective is the development of a novel, rapid,…
The study addressed the problem of Anonymous Multi-Agent Path-finding (AMAPF). Unlike the classical formulation, where the assignment of agents to goals is fixed, in the anonymous MAPF setting it is irrelevant which agent reaches specific…
This paper proposes a strategy to estimate the velocity and position of neighbor agents using distance measurements only. Since with agents executing arbitrary motions, instantaneous distance-only measurements cannot provide enough…
We consider a network of agents that locate themselves in an environment through sensor measurements and aim to transmit a message signal to a base station via collaborative beamforming. The agents' sensor measurements result in…
Given a connected region in two-dimensional space where events of a certain kind occur according to a certain time-varying density, we consider the problem of setting up a network of autonomous mobile agents to detect the occurrence of…
This paper investigates the problem of consensus tracking control of discrete time multi-agent systems under binary-valued communication. Different from most existing studies on consensus tracking, the transmitted information between agents…
In terrestrial communication networks without fixed infrastructure, unmanned aerial vehicle (UAV)-mounted mobile base stations (MBSs) provide an efficient solution to achieve wireless connectivity. This letter aims to minimize the number of…
This paper investigates a modification of cyclic constant bearing (CB) pursuit in a multi-agent system in which each agent pays attention to a neighbor and a beacon. The problem admits shape equilibria with collective circling about the…