Related papers: Game-theoretic Decentralized Coordination for Airs…
Decentralized air traffic management requires coordination among self-interested stakeholders operating under shared safety and capacity constraints, where conventional centralized or implicitly cooperative models do not adequately capture…
Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…
This paper introduces decentralized control concepts for drones using differential game theory. The approach optimizes the behavior of an ego drone, assuming the anticipated behavior of the opponent drones using a receding horizon approach.…
Safe navigation in dense, urban driving environments remains an open problem and an active area of research. Unlike typical predict-then-plan approaches, game-theoretic planning considers how one vehicle's plan will affect the actions of…
Coordinated missions involving Unmanned Aerial Vehicles (UAVs) in dynamic environments pose significant challenges in maintaining both coordination and agility. In this paper, relying on the cooperative path following framework and using a…
We investigate a method to deal with congestion of sectors and delays in the tactical phase of air traffic flow and capacity management. It relies on temporal objectives given for every point of the flight plans and shared among the…
As Urban air mobility scales, commercial drone fleets offer a compelling, yet underexplored opportunity to function as mobile sensor networks for real-time urban traffic monitoring. In this paper, we propose a decentralized framework that…
In dynamic urban logistics, the stochastic emergence of time-sensitive tasks poses a significant optimality challenge for heterogeneous AAVs logistics task allocation. To address this problem, a reinforcement learning enhanced overlapping…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
With the objective of handling the airspace sector congestion subject to continuously growing air traffic, we suggest to create a collaborative working plan during the strategic phase of air traffic control. The plan obtained via a new…
We study the problem of achieving decentralized coordination by a group of strategic decision makers choosing to engage or not in a task in a stochastic setting. First, we define a class of symmetric utility games that encompass a broad…
We introduce a multi-modal autonomous delivery optimization framework as a coalition game for a fleet of UAVs and ADRs operating in two overlaying networks to address last-mile delivery in urban environments, including high-density areas…
Congestion games are popular models often used to study the system-level inefficiencies caused by selfish agents, typically measured by the price of anarchy. One may expect that aligning the agents' preferences with the system-level…
Motivated by applications in job scheduling, queuing networks, and load balancing in cyber-physical systems, we develop and analyze a game-theoretic framework to balance the load among servers in static and dynamic settings. In these…
Congestion game is a widely used model for modern networked applications. A central issue in such applications is that the selfish behavior of the participants may result in resource overloading and negative externalities for the system…
We propose a decentralized game-theoretic framework for dynamic task allocation problems for multi-agent systems. In our problem formulation, the agents' utilities depend on both the rewards and the costs associated with the successful…
In this paper, we introduce a game theoretic framework for studying the problem of minimizing the delay of instantly decodable network coding (IDNC) for cooperative data exchange (CDE) in decentralized wireless network. In this…
This paper considers competitive mobility-on-demand systems where a group of vehicle sharing companies, on one hand, want to collectively regulate the traffic of the user queueing network, and on the other hand, maximize their own profits…
Achieving consensus among noncooperative agents remains challenging in decentralized multi-agent systems, where agents often have conflicting preferences. Existing coordination methods enable agents to reach consensus without a centralized…
Leading proposals for Advanced Air Mobility (AAM) recognize the need for strategic and tactical airspace deconfliction, where the need for coordination appears in different forms and nuances. One recurring element is the use of pre-defined…