Related papers: Exploiting Over-The-Air Consensus for Collision Av…
Recent advances in distributed learning systems have introduced effective solutions for implementing collaborative artificial intelligence techniques in wireless communication networks. Federated learning approaches provide a…
Scaling laws for inference compute in multi-agent systems remain under-explored compared to single-agent scenarios. This work aims to bridge this gap by investigating the problem of data synthesis through multi-agent sampling, where…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
In recent years, many efforts have been addressed on collision avoidance of collectively moving agents. In this paper, we propose a modified version of the Vicsek model with adaptive speed, which can guarantee the absence of collisions.…
Maximizing the utility of human-robot teams in disaster response and search and rescue (SAR) missions remains to be a challenging problem. This is due to the dynamic, uncertain nature of the environment and the variability in cognitive…
Distributed optimization concerns the optimization of a common function in a distributed network, which finds a wide range of applications ranging from machine learning to vehicle platooning. Its key operation is to aggregate all local…
Collaborative decision making in multi-agent systems typically requires a predefined communication protocol among agents. Usually, agent-level observations are locally processed and information is exchanged using the predefined protocol,…
Recently, Over-the-Air (OTA) computation has emerged as a promising federated learning (FL) paradigm that leverages the waveform superposition properties of the wireless channel to realize fast model updates. Prior work focused on the OTA…
Over-the-air (OTA) federated learning (FL) has been well recognized as a scalable paradigm that exploits the waveform superposition of the wireless multiple-access channel to aggregate model updates in a single use. Existing OTA-FL designs…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
We consider problems where agents in a network seek a common quantity, measured independently and periodically by each agent through a local time-varying process. Numerous solvers addressing such problems have been developed in the past,…
This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication…
Over-the-air federated learning (OTA-FL) unifies communication and model aggregation by leveraging the inherent superposition property of the wireless medium. This strategy can enable scalable and bandwidth-efficient learning via…
This paper makes the first attempt to show how information exchange rules represented by a network having multiple layers (multiplex information networks) can be designed for enabling spatially evolving multiagent formations. Toward this…
This paper studies a consensus problem of multi-agent systems subjected to external disturbances over the clustered network. It considers that the agents are divided into several clusters. They are almost all the time isolated one from…
Non-coherent over-the-air (NCOTA) computation enables low-latency and bandwidth-efficient decentralized optimization by exploiting the average energy superposition property of wireless channels. It has recently been proposed as a powerful…
There is increasing demand for control of multi-robot and as well distributing large amounts of content to cluster of Unmanned Aerial Vehicles (UAV) on the operation. In recent years several large-scale accidents have happened. To…
One major challenge in implementation of formation control problems stems from the packet loss that occur in these shared communication channel. In the presence of packet loss the coordination information among agents is lost. Moreover,…
Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…
Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state is available or not, two distributed protocols are proposed to ensure…