Related papers: Event Driven CBBA with Reduced Communication
Simulated annealing (SA) method has had significant recent success in designing distributed control algorithms for wireless networks. These SA based techniques formed the basis of new CSMA algorithms and gave rise to the development of…
This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control,…
Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…
We propose a novel formulation of the collision-aware task assignment (CATA) problem and a decentralized auction-based algorithm to solve the problem with optimality bound. Using a collision cone, we predict potential collisions and…
This paper addresses the problem of cooperative target tracking using a heterogeneous multi-robot system, where the robots are communicating over a dynamic communication network, and heterogeneity is in terms of different types of sensors…
Effective communication is crucial for deploying robots in mission-specific tasks, but inadequate or unreliable communication can greatly reduce mission efficacy, for example in search and rescue missions where communication-denied…
This paper introduces a distributed control method for multi-agent robotic systems employing Over the Air Consensus (OtA-Consensus). Designed for agents with decoupled single-integrator dynamics, this approach aims at efficient formation…
In modern large-scale systems with sensor networks and IoT devices it is essential to collaboratively solve complex problems while utilizing network resources efficiently. In our paper we present three distributed optimization algorithms…
The reliability of current autonomous driving systems is often jeopardized in situations when the vehicle's field-of-view is limited by nearby occluding objects. To mitigate this problem, vehicle-to-vehicle communication to share sensor…
Multi-agent reinforcement learning systems deployed in real-world robotics applications face severe communication constraints that significantly impact coordination effectiveness. We present a framework that combines information bottleneck…
We present a novel reinforcement learning (RL) based task allocation and decentralized navigation algorithm for mobile robots in warehouse environments. Our approach is designed for scenarios in which multiple robots are used to perform…
Effective communication for emergency vehicles - such as ambulances and fire trucks - is essential to support their operations in various traffic and environmental conditions. In this context, this paper investigates a vehicular…
Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…
We consider a scenario where multiple event-based systems use a wireless network to communicate with their respective controllers. These systems use a contention resolution mechanism (CRM) to arbitrate access to the network. We present a…
The ever-increasing demand for data services and the proliferation of user equipment (UE) have resulted in a significant rise in the volume of mobile traffic. Moreover, in multi-band networks, non-uniform traffic distribution among…
Big data, including applications with high security requirements, are often collected and stored on multiple heterogeneous devices, such as mobile devices, drones and vehicles. Due to the limitations of communication costs and security…
In this paper we study the inherent trade-off between time and communication complexity for the distributed consensus problem. In our model, communication complexity is measured as the maximum data throughput (in bits per second) sent…
Message bundling is an effective way to reduce the energy consumption for message transmissions in wireless sensor networks. However, bundling more messages could increase both end-to-end delay and message transmission interval; the former…
In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a…
We propose distributed iterative algorithms for safe control design and safety verification for networked multi-agent systems. These algorithms rely on distributing a control barrier function (CBF) related quadratic programming (QP) problem…