Related papers: A framework for distributed discrete evacuation st…
We present a new framework for the crucial challenge of self-organization of a large sensor network. The basic scenario can be described as follows: Given a large swarm of immobile sensor nodes that have been scattered in a polygonal…
We consider a dynamically decoupled network of agents each with a local output-feedback controller. We assume each agent is a node in a directed acyclic graph and the controllers share information along the edges in order to cooperatively…
We consider evacuation of a group of $n \geq 2$ autonomous mobile agents (or robots) from an unknown exit on an infinite line. The agents are initially placed at the origin of the line and can move with any speed up to the maximum speed $1$…
Distributed resource allocation is a central task in network systems such as smart grids, water distribution networks, and urban transportation systems. When solving such problems in practice it is often important to have nonasymptotic…
We consider the following problem - a group of mobile agents perform some task on a terrain modeled as a graph. In a given moment of time an adversary gets an access to the graph and positions of the agents. Shortly before adversary's…
Coordinating multiple autonomous agents to reach a target region while avoiding collisions and maintaining communication connectivity is a core problem in multi-agent systems. In practice, agents have a limited communication range. Thus,…
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…
In multi-agent systems, strong connectivity of the communication network is often crucial for establishing consensus protocols, which underpin numerous applications in decision-making and distributed optimization. However, this connectivity…
In this paper, we present a communication-free algorithm for distributed coverage of an arbitrary network by a group of mobile agents with local sensing capabilities. The network is represented as a graph, and the agents are arbitrarily…
Network systems have become a ubiquitous modeling tool in many areas of science where nodes in a graph represent distributed processes and edges between nodes represent a form of dynamic coupling. When a network topology is already known…
This paper explores the idea of smart building evacuation when evacuees can belong to different categories with respect to their ability to move and their health conditions. This leads to new algorithms that use the Cognitive Packet Network…
Motivated by the relationship between the eigenvalue spectrum of the Laplacian matrix of a network and the behavior of dynamical processes evolving in it, we propose a distributed iterative algorithm in which a group of $n$ autonomous…
We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…
We consider a sharing economy network where agents embedded in a graph share their resources. This is a fundamental model that abstracts numerous emerging applications of collaborative consumption systems. The agents generate a random…
We study the problem of patrolling the nodes of a network collaboratively by a team of mobile agents, such that each node of the network is visited by at least one agent once in every $I(n)$ time units, with the objective of minimizing the…
In networks of autonomous agents (e.g., fleets of vehicles, scattered sensors), the problem of minimizing the sum of the agents' local functions has received a lot of interest. We tackle here this distributed optimization problem in the…
Exit paths in buildings are designed to minimise evacuation time when the building is at full capacity. We present an evacuation support system which does this regardless of the number of evacuees. The core concept is to even-out congestion…
We consider a discrete-time model of continuous-time distributed optimization over dynamic directed-graphs (digraphs) with applications to distributed learning. Our optimization algorithm works over general strongly connected dynamic…
We consider the dispersion problem for mobile agents. Initially, k agents are located at arbitrary nodes in an undirected graph. Agents can migrate from node to node via an edge in the graph synchronously. Our goal is to let the k agents be…
A distributed discrete-time algorithm is proposed for multi-agent networks to achieve a common least squares solution of a group of linear equations, in which each agent only knows some of the equations and is only able to receive…