相关论文: Decentralized Biconnectivity Conditions in Multi-r…

Imagine that a swarm of robots is given, these robots must communicate with each other, and they can do so if certain conditions are met. We say that the swarm is connected if there is at least one way to send a message between each pair of…

Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions as a means to cope with the lack of a central system coordinating the efforts of all robots. Especially in complex…

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…

Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…

Network connectivity plays an important role in the information exchange between different agents in the multi-level networks. In this paper, we establish a game-theoretic framework to capture the uncoordinated nature of the decision-making…

We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…

Decentralized network theories focus on achieving consensus and in speeding up the rate of convergence to consensus. However, network cohesion (i.e., maintaining consensus) during transitions between consensus values is also important when…

In this paper, we propose a novel decentralized control method to maintain Line-of-Sight connectivity for multi-robot networks in the presence of Guassian-distributed localization uncertainty. In contrast to most existing work that assumes…

We consider a scenario of cooperative task servicing, with a team of heterogeneous robots with different maximum speeds and communication radii, in charge of keeping the network intermittently connected. We abstract the task locations into…

The main result relates to structured robust stability analysis of an input-output model for networks with link uncertainty. It constitutes a collection of integral quadratic constraints, which together imply robust stability of the…

Fault tolerance is increasingly important for unmanned autonomous vehicles. For example, in a multi robot system the agents need the ability to effectively detect and tolerate internal failures in order to continue performing their tasks…

We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…

Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…

This paper studies the relation between node deletion and algebraic connectivity for graphs with a hierarchical structure represented by layers. To capture this structure, the concepts of layered path graph and its (sub)graph cone are…

Relational networks within a team play a critical role in the performance of many real-world multi-robot systems. To successfully accomplish tasks that require cooperation and coordination, different agents (e.g., robots) necessitate…

We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…

A common definition of a robust connection between two nodes in a network such as a communication network is that there should be at least two independent paths connecting them, so that the failure of no single node in the network causes…

In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…

Connectivity is one of the most fundamental properties of wireless multi-hop networks. A network is said to be connected if there is a path between any pair of nodes. A convenient way to study the connectivity of a random network is by…

We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures.…