Related papers: Coverage control for mobile sensing networks
This paper addresses the fundamental problem of non-uniform area coverage in multi-agent systems, where different regions require varying levels of attention due to mission-dependent priorities. Existing uniform coverage strategies are…
This paper discusses dynamical systems for disk-covering and sphere-packing problems. We present facility location functions from geometric optimization and characterize their differentiable properties. We design and analyze a collection of…
This paper aims at coordinating interconnected agents where the control input of each agent is limited by the control input of others. In that sense, the systems have to share a limited resource over a network. Such problems can arise in…
We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully…
Future communication networks are expected to feature autonomic (or self-organizing) mechanisms to ease deployment (self-configuration), tune parameters automatically (self-optimization) and repair the network (self-healing).…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…
To alleviate computational load on RSUs and cloud platforms, reduce communication bandwidth requirements, and provide a more stable vehicular network service, this paper proposes an optimized pinning control approach for heterogeneous…
In this paper, we investigate how heterogeneous multi-robot systems with different sensing capabilities can observe a domain with an apriori unknown density function. Common coverage control techniques are targeted towards homogeneous teams…
Modern artificial intelligence relies on networks of agents that collect data, process information, and exchange it with neighbors to collaboratively solve optimization and learning problems. This article introduces a novel distributed…
Heterogeneous multi-robot sensing systems are able to characterize physical processes more comprehensively than homogeneous systems. Access to multiple modalities of sensory data allow such systems to fuse information between complementary…
Perception and prediction modules are critical components of autonomous driving systems, enabling vehicles to navigate safely through complex environments. The perception module is responsible for perceiving the environment, including…
We develop distributed algorithms to allocate resources in multi-hop wireless networks with the aim of minimizing total cost. In order to observe the fundamental duplexing constraint that co-located transmitters and receivers cannot operate…
We revisit the static coverage control problem for placement of vehicles with simple motion on the real line, under the assumption that the cost is a polynomial function of the locations of the vehicles. The main contribution of this paper…
In this paper a novel distributed control algorithm for current sharing and voltage regulation in Direct Current (DC) microgrids is proposed. The DC microgrid is composed of several Distributed Generation units (DGUs), including Buck…
Achieving fully autonomous driving with enhanced safety and efficiency relies on vehicle-to-everything cooperative perception, which enables vehicles to share perception data, thereby enhancing situational awareness and overcoming the…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
This paper introduces a novel approach to solve the coverage optimization problem in multi-agent systems. The proposed technique offers an optimal solution with a lower cost with respect to conventional Voronoi-based techniques by…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…
This paper addresses the sweep coverage problem of multi-agent systems in uncertain regions. A new formulation of distributed sweep coverage is proposed to cooperatively complete the workload in the uncertain region. Specifically, each…
Scheduling control problems for a family of unitary networks under heavy traffic with general interarrival and service times, probabilistic routing and an infinite horizon discounted linear holding cost are studied. Diffusion control…