Related papers: Balancing Priorities in Patrolling with Rabbit Wal…
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in…
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…
We analyze the Hunter vs Rabbit game on graph, which is a kind of model of communication in an adhoc mobile network. Let $G$ be a cycle graph with $N$ nodes. The hunter can move from a vertex to another vertex on the graph along an edge.…
We investigate the distributed online economic dispatch problem for power systems with time-varying coupled inequality constraints. The problem is formulated as a distributed online optimization problem in a multi-agent system. At each time…
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…
Accurately analyzing graph properties of social networks is a challenging task because of access limitations to the graph data. To address this challenge, several algorithms to obtain unbiased estimates of properties from few samples via a…
Distributed optimization for resource allocation problems is investigated and a sub-optimal continuous-time algorithm is proposed. Our algorithm has lower order dynamics than others to reduce burdens of computation and communication, and is…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
Random walks are gaining much attention from the networks research community. They are the basis of many proposals aimed to solve a variety of network-related problems such as resource location, network construction, nodes sampling, etc.…
Locking protocol is an essential component in resource management of real-time systems, which coordinates mutually exclusive accesses to shared resources from different tasks. Although the design and analysis of locking protocols have been…
We consider the following distributed pursuit-evasion problem. A team of mobile agents called searchers starts at an arbitrary node of an unknown $n$-node network. Their goal is to execute a search strategy that guarantees capturing a fast…
In real-time systems, priorities assigned to real-time tasks determine the order of task executions, by relying on an underlying task scheduling policy. Assigning optimal priority values to tasks is critical to allow the tasks to complete…
With robots entering the world of Cyber Physical Systems (CPS), ordering the execution of allocated tasks during run-time becomes crucial. This is so because, in a real world, there can be several physical tasks that use shared resources…
We present a lightweight, decentralized algorithm for navigating multiple nonholonomic agents through challenging environments with narrow passages. Our key idea is to allow agents to yield to each other in large open areas instead of…
We propose a regularized saddle-point algorithm for convex networked optimization problems with resource allocation constraints. Standard distributed gradient methods suffer from slow convergence and require excessive communication when…
Nowadays, ridesharing has become one of the most popular services offered by online ride-hailing platforms (e.g., Uber and Didi Chuxing). Existing ridesharing platforms adopt the strategy that dispatches orders over the entire city at a…
Robot swarms offer significant potential for inspecting diverse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources…
As mobile service robots increasingly coexist with pedestrians, ensuring passively safe behaviour during confined emergency evacuations is critical. Existing multi-robot yielding strategies often focus solely on collision avoidance and…