Related papers: Location-Aware Dispersion on Anonymous Graphs
In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
In this paper we consider graph-coloring problems, an important subset of general constraint satisfaction problems that arise in wireless resource allocation. We constructively establish the existence of fully decentralized learning-based…
We consider the problem of classifying a map using a team of communicating robots. It is assumed that all robots have localized visual sensing capabilities and can exchange their information with neighboring robots. Using a graph…
Two fundamental problems of distributed computing are Gathering and Arbitrary pattern formation (\textsc{Apf}). These two tasks are different in nature as in gathering robots meet at a point but in \textsc{Apf} robots form a fixed pattern…
In this paper, we consider a sensor placement problem where sensors can move within a network over time. Sensor placement problem aims to select K sensor positions from N candidates where K < N. Most existing methods assume that sensor…
This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea…
The traditional distributed model of autonomous, homogeneous, mobile point robots usually assumes that the robots do not create any visual obstruction for the other robots, i.e., the robots are see through. In this paper, we consider a…
In this paper, we study the problem of localizing the sensors' positions in presence of denial-of-service (DoS) attacks. We consider a general attack model, in which the attacker action is only constrained through the frequency and duration…
A team consisting of an unknown number of mobile agents, starting from different nodes of an unknown network, possibly at different times, have to meet at the same node. Agents are anonymous (identical), execute the same deterministic…
We consider the following problem - a group of mobile agents perform some task on a terrain modeled as a graph. In a given moment of time an adversary gets an access to the graph and positions of the agents. Shortly before adversary's…
This paper investigates the localization problem of a network in 2-D and 3-D spaces given the positions of anchor nodes in a global frame and inter-node relative measurements in local coordinate frames. It is assumed that the local frames…
Graph learning is often a necessary step in processing or representing structured data, when the underlying graph is not given explicitly. Graph learning is generally performed centrally with a full knowledge of the graph signals, namely…
We investigate the algorithmic problem of uniformly dispersing a swarm of robots in an unknown, gridlike environment. In this setting, our goal is to study the relationships between performance metrics and robot capabilities. We introduce a…
Over the years, much research involving mobile computational entities has been performed. From modeling actual microscopic (and smaller) robots, to modeling software processes on a network, many important problems have been studied in this…
This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…
Important applications in robotic and sensor networks require distributed algorithms to solve the so-called relative localization problem: a node-indexed vector has to be reconstructed from measurements of differences between neighbor…
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…