Related papers: Multi-Agent Coverage Control in Non-Convex Annulus…
This paper proposes a new architecture for multi-agent systems to cover an unknowingly distributed fast, safely, and decentralizedly. The inter-agent communication is organized by a directed graph with fixed topology, and we model agent…
Fluid antennas (FAs) and movable antennas (MAs) have attracted increasing attention in wireless communications recently. As compared to the conventional fixed-position antennas (FPAs), their geometry can be dynamically reconfigured, such…
Conformal prediction is a statistical tool for producing prediction regions for machine learning models that are valid with high probability. A key component of conformal prediction algorithms is a \emph{non-conformity score function} that…
High Altitude Balloons (HABs) can leverage stratospheric wind layers for limited horizontal control, enabling applications in reconnaissance, environmental monitoring, and communications networks. Existing multi-agent HAB coordination…
Maximum target coverage by adjusting the orientation of distributed sensors is an important problem in directional sensor networks (DSNs). This problem is challenging as the targets usually move randomly but the coverage range of sensors is…
The generation of smoother and shorter spiral complete coverage paths in multi-connected domains is a crucial research topic in path planning for robotic cavity machining and other related fields. Traditional methods for spiral path…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
This paper presents a novel partial differential equation (PDE)-based framework for controlling an ensemble of robots, which have limited sensing and actuation capabilities and exhibit stochastic behaviors, to perform mapping and coverage…
This paper investigates agreement protocols over cooperative and cooperative--antagonistic multi-agent networks with coupled continuous-time nonlinear dynamics. To guarantee convergence for such systems, it is common in the literature to…
We describe the use of Multi Order Coverage (MOC) maps as a practical way to manage complex regions of the sky for the planning of multi-messenger observations. MOC maps are a data structure that provides a multi-resolution representation…
In this paper we tackle the problem of persistently covering a complex non-convex environment with a team of robots. We consider scenarios where the coverage quality of the environment deteriorates with time, requiring to constantly revisit…
In this paper, multi-agent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuous-time dynamics with time-varying interconnection topologies. Assuming that each…
This paper proposes a novel mission planning platform, capable of efficiently deploying a team of UAVs to cover complex-shaped areas, in various remote sensing applications. Under the hood lies a novel optimization scheme for grid-based…
This note investigates how to design topology structures to ensure the controllability of multi-agent networks (MASs) under any selection of leaders. We put forward a concept of perfect controllability, which means that a multi-agent system…
Unmanned aerial vehicle (UAV) based aerial base stations (BSs) can provide rapid communication services to ground users and are thus promising for future communication systems. In this paper, we consider a scenario where no functional…
Persistent monitoring of dynamic targets is essential in real-world applications such as disaster response, environmental sensing, and wildlife conservation, where mobile agents must continuously gather information under uncertainty. We…
This paper presents a spatio-temporal inverse optimal control framework for understanding interactions in multi-agent systems (MAS). We employ a graph representation approach and model the dynamics of interactions between agents as…
We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission…
We introduce MARL-MambaContour, the first contour-based medical image segmentation framework based on Multi-Agent Reinforcement Learning (MARL). Our approach reframes segmentation as a multi-agent cooperation task focused on generate…
We address the problem of multiple local optima commonly arising in optimization problems for multi-agent systems, where objective functions are nonlinear and nonconvex. For the class of coverage control problems, we propose a systematic…