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We study a constrained distributed heterogeneous two-facility location problem, where a set of agents with private locations on the real line are divided into disjoint groups. The constraint means that the facilities can only be built in a…
Multi-agent games in dynamic nonlinear settings are challenging due to the time-varying interactions among the agents and the non-stationarity of the (potential) Nash equilibria. In this paper we consider model-free games, where agent…
This paper introduces a novel algorithm for multiagent offline trajectory generation based on distributed model predictive control. Central to the algorithm's scalability and success is the development of an on-demand collision avoidance…
In this work we study a well-known and challenging problem of Multi-agent Pathfinding, when a set of agents is confined to a graph, each agent is assigned a unique start and goal vertices and the task is to find a set of collision-free…
This paper develops and compares two simple asynchronous distributed searchlight scheduling algorithms for multiple robotic agents in nonconvex polygonal environments. A searchlight is a ray emitted by an agent which cannot penetrate the…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
This paper introduces an approach to address the target enclosing problem using non-holonomic multiagent systems, where agents self-organize on the enclosing shape around a fixed target. In our approach, agents independently move toward the…
We study distributed (strongly convex) optimization problems over a network of agents, with no centralized nodes. The loss functions of the agents are assumed to be \textit{similar}, due to statistical data similarity or otherwise. In order…
We consider a class of popular distributed non-convex optimization problems, in which agents connected by a network $\mathcal{G}$ collectively optimize a sum of smooth (possibly non-convex) local objective functions. We address the…
This paper considers the collective circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a prescribed angular velocity. It is required to achieve these collective…
In this paper, a time-varying distributed convex optimization problem is studied for continuous-time multi-agent systems. Control algorithms are designed for the cases of single-integrator and double-integrator dynamics. Two discontinuous…
Complex scheduling problems require a large amount computation power and innovative solution methods. The objective of this paper is the conception and implementation of a multi-agent system that is applicable in various problem domains.…
This work considers multiple agents traversing a network from a source node to the goal node. The cost to an agent for traveling a link has a private as well as a congestion component. The agent's objective is to find a path to the goal…
We consider cooperative multi-agent consensus optimization problems over both static and time-varying communication networks, where only local communications are allowed. The objective is to minimize the sum of agent-specific possibly…
This work views the multi-agent system and its surrounding environment as a co-evolving system, where the behavior of one affects the other. The goal is to take both agent actions and environment configurations as decision variables, and…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
We study distributed multi-agent large-scale optimization problems, wherein the cost function is composed of a smooth possibly nonconvex sum-utility plus a DC (Difference-of-Convex) regularizer. We consider the scenario where the dimension…
This paper considers a distributed convex optimization problem over a time-varying multi-agent network, where each agent has its own decision variables that should be set so as to minimize its individual objective subject to local…
This paper presents a distributed, efficient, scalable and real-time motion planning algorithm for a large group of agents moving in 2 or 3-dimensional spaces. This algorithm enables autonomous agents to generate individual trajectories…
Convex free regions provide a structured and optimization-friendly representation of collision-free space for robot navigation in unknown and cluttered environments. However, existing methods typically enlarge local collision-free regions…