Related papers: Game-theoretic Decentralized Coordination for Airs…
Despite many distributed resource allocation (DRA) algorithms have been reported in literature, it is still unknown how to allocate the resource optimally over multiple interacting coalitions. One major challenge in solving such a problem…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to optimize energy consumption and travel time. Several approaches have been proposed in the literature that allow CAVs to coordinate in situations where there…
We address the multi-agent motion planning problem where interactions, collisions, and congestion co-exist. Conventional game-theoretic planners capture interactions among agents but often converge to conservative, congested equilibria.…
With the blasting increase of wireless data traffic, incumbent wireless service providers (WSPs) face critical challenges in provisioning spectrum resource. Given the permission of unlicensed access to TV white spaces, WSPs can alleviate…
Efficient distributed spectrum sharing mechanism is crucial for improving the spectrum utilization. The spatial aspect of spectrum sharing, however, is less understood than many other aspects. In this paper, we generalize a recently…
We present a new algorithmic paradigm for the decentralized solution of graph-structured optimization problems that arise in the estimation and control of network systems. A key and novel design concept of the proposed approach is that it…
Recent years have seen a great increase in the capacity and parallel processing power of data centers and cloud services. To fully utilize the said distributed systems, optimal load balancing for parallel queuing architectures must be…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
Roadside units (RSUs), which have strong computing capability and are close to vehicle nodes, have been widely used to process delay- and computation-intensive tasks of vehicle nodes. However, due to their high mobility, vehicles may drive…
We propose a tactical homotopy-aware decision-making framework for game-theoretic motion planning in urban environments. We model urban driving as a generalized Nash equilibrium problem and employ a mixed-integer approach to tame the…
This paper seeks to establish a framework for directing a society of simple, specialized, self-interested agents to solve what traditionally are posed as monolithic single-agent sequential decision problems. What makes it challenging to use…
In this work, we develop a scalable, local trajectory optimization algorithm that enables robots to interact with other robots. It has been shown that agents' interactions can be successfully captured in game-theoretic formulations, where…
This paper proposes a traffic control scheme to alleviate traffic congestion in a network of interconnected signaled lanes/roads. The proposed scheme is emergency vehicle-centered, meaning that it provides an efficient and timely routing…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
Advanced Air Mobility (AAM) represents an evolution of the air transportation system by introducing low-altitude, potentially high-traffic environments. AAM operations will be enabled by both new aircraft, as well as new safety- and…
The actions of an autonomous vehicle on the road affect and are affected by those of other drivers, whether overtaking, negotiating a merge, or avoiding an accident. This mutual dependence, best captured by dynamic game theory, creates a…
Motivated by the need to develop simulation tools for verification and validation of autonomous driving systems operating in traffic consisting of both autonomous and human-driven vehicles, we propose a framework for modeling vehicle…
We show that, in large population games, decentralized information aggregation generically corrects for individual-level biases. This establishes a new testable aggregate efficiency benchmark where the behavior of boundedly rational agents…
Competitive analysis of online algorithms has commonly been applied to understand the behaviour of real-time systems during overload conditions. While competitive analysis provides insight into the behaviour of certain algorithms, it is…