Related papers: Spatially-distributed coverage optimization and co…
This paper considers the problem of decentralized submodular maximization subject to partition matroid constraint using a sequential greedy algorithm with probabilistic inter-agent message-passing. We propose a communication-aware framework…
This paper focuses on the optimal coverage problem (OCP) for multi-agent systems with a decentralized optimization mechanism. A game based distributed decision-making method for the multi-agent OCP is proposed to address the high…
Line coverage is the task of servicing a given set of one-dimensional features in an environment. It is important for the inspection of linear infrastructure such as road networks, power lines, and oil and gas pipelines. This paper…
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…
We propose a distributed algorithm, termed the Directed-Distributed Projected Subgradient (D-DPS), to solve a constrained optimization problem over a multi-agent network, where the goal of agents is to collectively minimize the sum of…
In this paper, a stochastic approximation (SA) based distributed algorithm is proposed to solve the resource allocation (RA) with uncertainties. In this problem, a group of agents cooperatively optimize a separable optimization problem with…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
We address a problem of area protection in graph-based scenarios with multiple mobile agents where connectivity is maintained among agents to ensure they can communicate. The problem consists of two adversarial teams of agents that move in…
In this paper, we develop a systematic framework for the time-sequential compression of dynamic probabilistic occupancy grids. Our approach leverages ideas from signal compression theory to formulate an optimization problem that searches…
Distributed gathering algorithms aim to achieve complete visibility graphs via a "never lose a neighbour" policy. We suggest a method to maintain connected graph topologies, while reducing the number of effective edges in the graph to order…
We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2D or 3D; second,…
This paper concerns the consensus and formation of a network of mobile autonomous agents in adversarial settings where a group of malicious (compromised) agents are subject to deception attacks. In addition, the communication network is…
Distributed online optimization and game have been increasingly researched in the last decade, mostly motivated by its wide applications in sensor networks, robotics (e.g., distributed target tracking and formation control), smart grids,…
This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…
In this paper, we study a class of set cover problems that satisfy a special property which we call the {\em small neighborhood cover} property. This class encompasses several well-studied problems including vertex cover, interval cover,…
In communication-denied or contested environments, Line-of-Sight (LoS) communication (e.g free space optical communication using infrared or visible light) becomes one of the most reliable and efficient ways to send information between…
Next generation mobile networks will rely ever more heavily on resource sharing. In this article we study the sharing of radio access network and spectrum among mobile operators. We assess the impact of sharing these two types of resources…