Related papers: VoI-aware Scheduling Schemes for Multi-Agent Forma…
In this paper, we propose a novel distributed formation control strategy, which is based on the measurements of relative position of neighbors, with global orientation estimation in 3-dimensional space. Since agents do not share a common…
Scheduling the transmission of time-sensitive data to multiple users over error-prone communication channels is studied with the goal of minimizing the long-term average age of information (AoI) at the users under a constraint on the…
Age-of-Information (AoI) is a performance metric for scheduling systems that measures the freshness of the data available at the intended destination. AoI is formally defined as the time elapsed since the destination received the recent…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
This paper introduces a novel approach to solve the coverage optimization problem in multi-agent systems. The proposed technique offers an optimal solution with a lower cost with respect to conventional Voronoi-based techniques by…
Federated Learning (FL) has emerged as a privacy-preserving machine learning paradigm facilitating collaborative training across multiple clients without sharing local data. Despite advancements in edge device capabilities, communication…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
This paper considers multiple unmanned aerial vehicles (UAVs) to assist sensing data transmissions from the ground users (GUs) to a remote base station (BS). Each UAV collects sensing data from the GUs and then forwards the sensing data to…
The movement of cooperative robots in a densely cluttered environment may not be possible if the formation type is invariant. Hence, we investigate a new method for time-varying formation control for a group of heterogeneous autonomous…
This paper makes the first attempt to show how information exchange rules represented by a network having multiple layers (multiplex information networks) can be designed for enabling spatially evolving multiagent formations. Toward this…
Optimization of information freshness in wireless networks has usually been performed based on queueing analysis that captures only the temporal traffic dynamics associated with the transmitters and receivers. However, the effect of…
We investigate a real-time remote inference system where multiple correlated sources transmit observations over a communication channel to a receiver. The receiver utilizes these observations to infer multiple time-varying targets. Due to…
The flocking motion control is concerned with managing the possible conflicts between local and team objectives of multi-agent systems. The overall control process guides the agents while monitoring the flock-cohesiveness and localization.…
We propose a variant of the Age of Information (AoI) metric called Channel-Aware Age of Information (CA-AoI). Unlike AoI, CA-AoI takes into account the channel conditions between the source and the intended destination to compute the "age"…
Taking inspiration from linguistics, the communications theoretical community has recently shown a significant recent interest in pragmatic , or goal-oriented, communication. In this paper, we tackle the problem of pragmatic communication…
The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and…
The goal of this work is to propose an extension of the popular leader-follower framework for multi-agent collective tracking and formation maintenance in presence of a time- varying leader. In particular, the leader is persistently…
Age of information (AoI), defined as the time elapsed since the last received update was generated, is a newly proposed metric to measure the timeliness of information updates in a network. We consider AoI minimization problem for a network…
In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…
This paper presents a consensus-based formation control strategy for autonomous agents moving in the plane with continuous-time single integrator dynamics. In order to save wireless resources (bandwidth, energy, etc), the designed…