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The objective in this article is to develop a control strategy for coverage purposes of a convex region by a fleet of Mobile Aerial Agents (MAAs). Each MAA is equipped with a downward facing camera that senses a convex portion of the area…
Multi-agent systems are prevalent in a wide range of domains including power systems, vehicular networks, and robotics. Two important problems to solve in these types of systems are how the intentions of non-coordinating agents can be…
Voronoi coverage control is a particular problem of importance in the area of multi-robot systems, which considers a network of multiple autonomous robots, tasked with optimally covering a large area. This is a common task for fleets of…
In this paper we present a novel distributed coverage control framework for a network of mobile agents, in charge of covering a finite set of points of interest (PoI), such as people in danger, geographically dispersed equipment or…
In this paper we consider the problem of navigation and motion control in an area densely populated with other agents. We propose an algorithm that, without explicit communication and based on the information it has, computes the best…
This paper introduces a decentralized multi-agent reinforcement learning framework enabling structurally heterogeneous teams of agents to jointly discover and acquire randomly located targets in environments characterized by partial…
Reinforcement learning in heterogeneous multi-agent scenarios is important for real-world applications but presents challenges beyond those seen in homogeneous settings and simple benchmarks. In this work, we present an actor-critic…
Using multiple mobile robots in search missions offers a lot of benefits, but one needs a suitable and competent motion control algorithm which is able to consider sensors characteristics, the uncertainty of target detection and complexity…
In this work, we design distributed control laws for spatial self-organization of multi-agent swarms in 1D and 2D spatial domains. The objective is to achieve a desired density distribution over a simply-connected spatial domain. Since…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
We study multi-agent coverage algorithms for autonomous monitoring and patrol in urban environments. We consider scenarios in which a team of flying agents uses downward facing cameras (or similar sensors) to observe the environment outside…
This article examines the problem of area coverage for a network of mobile robots with imprecise agent localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based…
To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadlocks, and scale to thousands of agents. Current approaches…
This paper presents an adversary detection mechanism and a resilient control framework for multi-agent systems under spatiotemporal constraints. Safety in multi-agent systems is typically addressed under the assumption that all agents…
Actively searching for targets using a multi-agent system in an unknown environment poses a two-pronged problem, where on the one hand we need agents to cover as much of the environment as possible with little overlap and on the other hand…
This paper presents an algorithm for a team of mobile robots to simultaneously learn a spatial field over a domain and spatially distribute themselves to optimally cover it. Drawing from previous approaches that estimate the spatial field…
We consider the problem of designing distributed collision-avoidance multi-agent control in large-scale environments with potentially moving obstacles, where a large number of agents are required to maintain safety using only local…
Several distributed algorithms are presented for the exploration of unknown indoor regions by a swarm of flying, energy constrained agents. The agents, which are identical, autonomous, anonymous and oblivious, uniformly cover the region and…
In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…