Related papers: Density-Driven Optimal Control for Non-Uniform Are…
We present a decentralized path-planning algorithm for navigating multiple differential-drive robots in dense environments. In contrast to prior decentralized methods, we propose a novel congestion metric-based replanning that couples local…
Optimal transport has been used extensively in resource matching to promote the efficiency of resources usages by matching sources to targets. However, it requires a significant amount of computations and storage spaces for large-scale…
This paper is concerned with the deployment of multiple mobile robots in order to autonomously cover a region Q. The region to be covered is described using a density function which may not be apriori known. In this paper, we pose the…
Finite-time optimal feedback control for flow networks under information constraints is studied. By utilizing the framework of multi-parametric linear programming, it is demonstrated that when cost/constraints can be modeled or approximated…
This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of…
A novel distributed algorithm is proposed for finite-time converging to a feasible consensus solution satisfying global optimality to a certain accuracy of the distributed robust convex optimization problem (DRCO) subject to bounded…
This paper studies the multi-agent coverage control (MAC) problem where agents must dynamically learn an unknown density function while performing coverage tasks. Unlike many current theoretical frameworks that concentrate solely on the…
We study distributed optimization in a cooperative multi-agent setting, where agents have to agree on the usage of shared resources and can communicate via a time-varying network to this purpose. Each agent has its own decision variables…
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…
Efficient coordination for collective spatial distribution is a fundamental challenge in multi-agent systems. Prior research on Density-Driven Optimal Control (D2OC) established a framework to match agent trajectories to a desired spatial…
This paper studies the problem of decentralized continuum deformation coordination of multi-agent systems aided by cooperative localization. We treat agents as particles inside a triangular continuum (deformable body) in a2-D motion space…
This paper deals with solving distributed optimization problems with equality constraints by a class of uncertain nonlinear heterogeneous dynamic multi-agent systems. It is assumed that each agent with an uncertain dynamic model has limited…
New architectures and algorithms are needed to reflect the mixture of local and global information that is available as multi-agent systems connect over the cloud. We present a novel architecture for multi-agent coordination where the cloud…
We introduce a method called MASCOT (Multi-Agent Shape Control with Optimal Transport) to compute optimal control solutions of agents with shape/formation/density constraints. For example, we might want to apply shape constraints on the…
A crucial challenge in decentralized systems is state estimation in the presence of unknown inputs, particularly within heterogeneous sensor networks with dynamic topologies. While numerous consensus algorithms have been introduced, they…
Collaborative multi-agent exploration of unknown environments is crucial for search and rescue operations. Effective real-world deployment must address challenges such as limited inter-agent communication and static and dynamic obstacles.…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
Shared e-mobility services have been widely tested and piloted in cities across the globe, and already woven into the fabric of modern urban planning. This paper studies a practical yet important problem in those systems: how to deploy and…
This paper fully studies distributed optimal consensus problem in non-directed dynamical networks. We consider a group of networked agents that are supposed to rendezvous at the optimal point of a collective convex objective function. Each…