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We consider the distributed optimization problem where $n$ agents each possessing a local cost function, collaboratively minimize the average of the $n$ cost functions over a connected network. Assuming stochastic gradient information is…
Inspired by the great success of machine learning in the past decade, people have been thinking about the possibility of improving the theoretical results by exploring data distribution. In this paper, we revisit a fundamental problem…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…
We consider the problem of scattering $n$ robots in a two dimensional continuous space. As this problem is impossible to solve in a deterministic manner, all solutions must be probabilistic. We investigate the amount of randomness (that is,…
The problem of near-optimal distributed path planning to locally sensed targets is investigated in the context of large swarms. The proposed algorithm uses only information that can be locally queried, and rigorous theoretical results on…
We consider the problem of finding patrol schedules for $k$ robots to visit a given set of $n$ sites in a metric space. Each robot has the same maximum speed and the goal is to minimize the weighted maximum latency of any site, where the…
We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
In this work we consider the HYBRID model of distributed computing, introduced recently by Augustine, Hinnenthal, Kuhn, Scheideler, and Schneider (SODA 2020), where nodes have access to two different communication modes: high-bandwidth…
This paper considers the k-sink location problem in dynamic path networks. In our model, a dynamic path network consists of an undirected path with positive edge lengths, uniform edge capacity, and positive vertex supplies. Here, each…
Fast shipping and efficient routing are key problems of modern logistics. Building on previous studies that address package delivery from a source node to a destination within a graph using multiple agents (such as vehicles, drones, and…
Diffusion is a fundamental graph process, underpinning such phenomena as epidemic disease contagion and the spread of innovation by word-of-mouth. We address the algorithmic problem of finding a set of k initial seed nodes in a network so…
A segment (barrier) is specified on the plane, as well as depots, where the mobile devices (drones) can be placed. Each drone departs from its depot to the barrier, moves along the barrier and returns to its depot, traveling a path of a…
The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…
In this paper, we propose a distributed algorithm, called Directed-Distributed Gradient Descent (D-DGD), to solve multi-agent optimization problems over directed graphs. Existing algorithms mostly deal with similar problems under the…
The graph exploration problem requires a group of mobile robots, initially placed arbitrarily on the nodes of a graph, to work collaboratively to explore the graph such that each node is eventually visited by at least one robot. One…
We study the so-called distributed two-time-scale gradient method for solving convex optimization problems over a network of agents when the communication bandwidth between the nodes is limited, and so information that is exchanged between…
The k Nearest Neighbor (kNN) query over moving objects on road networks is essential for location-based services. Recently, this problem has been studied under road networks with distance as the metric, overlooking fluctuating travel costs.…
Motivated by concerns about diversity in social networks, we consider the following pattern formation problems in rings. Assume $n$ mobile agents are located at the nodes of an $n$-node ring network. Each agent is assigned a colour from the…
This paper considers the problem of asynchronous distributed multi-agent optimization on server-based system architecture. In this problem, each agent has a local cost, and the goal for the agents is to collectively find a minimum of their…