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Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
This paper addresses the problem of the communication of optimally compressed information for mobile robot path-planning. In this context, mobile robots compress their current local maps to assist another robot in reaching a target in an…
Autonomous systems often have logical constraints arising, for example, from safety, operational, or regulatory requirements. Such constraints can be expressed using temporal logic specifications. The system state is often partially…
A team of robots sharing a common goal can benefit from coordination of the activities of team members, helping the team to reach the goal more reliably or quickly. We address the problem of coordinating the actions of a team of robots with…
Communication topology is a crucial part of a distributed control implementation for cyber-physical systems, yet is typically treated as a constraint within control design problems rather than a design variable. We propose a data-driven…
Communications system design has been traditionally guided by task-agnostic principles, which aim at efficiently transmitting as many correct bits as possible through a given channel. However, in the era of cyber-physical systems, the…
We consider the problem of controlling a set of dynamically decoupled plants where the plants' subcontrollers communicate with each other according to a fixed and known network topology. We assume the communication to be instantaneous but…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
In many multi-agent systems, communication is limited by bandwidth, latency, and energy constraints. Designing controllers that achieve coordination and safety with minimal communication is critical for scalable and reliable deployment.…
We consider a scenario where a power constrained transmitter delivers randomly arriving packets to the destination over Markov time-varying channel and adapts different transmission power to each channel state in order to guarantee…
This paper develops a principled foundation for goal-oriented semantic communication for logical decision-making. Consider a setting where autonomous agents engage in collaborative perception. In such settings, the volume of sensory data…
The goal of this paper is to analyze distributional Markov Decision Processes as a class of control problems in which the objective is to learn policies that steer the distribution of a cumulative reward toward a prescribed target law,…
Recent papers have treated {\em control communication complexity} in the context of information-based, multiple agent control systems including nonlinear systems of the type that have been studied in connection with quantum information…
Decentralized optimization is crucial for multi-agent systems, with significant concerns about communication efficiency and privacy. This paper explores the role of efficient communication in decentralized stochastic gradient descent…
Event-triggered control provides a mechanism for avoiding excessive use of constrained communication bandwidth in networked multi-agent systems. However, most existing methods rely on accurate system models, which may be unavailable in…
In multi-task remote inference systems, an intelligent receiver (e.g., command center) performs multiple inference tasks (e.g., target detection) using data features received from several remote sources (e.g., edge devices). Key challenges…
We consider the optimal design of sequential transmission over broadcast channel with nested feedback. Nested feedback means that the channel output of the outer channel is also available at the decoder of the inner channel. We model the…
In the design of closed-loop networked control systems (NCSs), induced transmission delay between sensors and the control station is an often-present issue which compromises control performance and may even cause instability. A very…
In cyber-physical systems such as automobiles, measurement data from sensor nodes should be delivered to other consumer nodes such as actuators in a regular fashion. But, in practical systems over unreliable media such as wireless, it is a…
We study the scalability of consensus-based distributed optimization algorithms by considering two questions: How many processors should we use for a given problem, and how often should they communicate when communication is not free?…