相关论文: Cooperative Simultaneous Localization and Synchron…

This paper discusses distributed optimization over a directed graph. We begin with some well known algorithms which achieve consensus among agents including FROST [1], which possesses the quickest convergence to the optimum. It is a well…

Many real-world scenarios involve a team of agents that have to coordinate their policies to achieve a shared goal. Previous studies mainly focus on decentralized control to maximize a common reward and barely consider the coordination…

Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…

Collaborative 3D object detection holds significant importance in the field of autonomous driving, as it greatly enhances the perception capabilities of each individual agent by facilitating information exchange among multiple agents.…

This article deals with the problem of distributed machine learning, in which agents update their models based on their local datasets, and aggregate the updated models collaboratively and in a fully decentralized manner. In this paper, we…

Cooperative localization is a promising solution to improve the accuracy and overcome the shortcomings of GNSS. Cooperation is often achieved by measuring the distance between users. To optimally integrate a distance measurement between two…

This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…

This paper introduces Multi-Agent MDP Homomorphic Networks, a class of networks that allows distributed execution using only local information, yet is able to share experience between global symmetries in the joint state-action space of…

In this paper we propose and analyze a distributed algorithm for achieving globally optimal decisions, either estimation or detection, through a self-synchronization mechanism among linearly coupled integrators initialized with local…

We study the network localization problem, i.e., the problem of determining node positions of a wireless sensor network modeled as a unit disk graph. In an arbitrarily deployed network, positions of all nodes of the network may not be…

This study deals with analysis and control of cooperative synchronization for identical agents interacting on a directed graph topology. The agents are considered to have general continuous linear time-invariant dynamics with homogeneous…

Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…

A distributed pose localization framework based on direction measurements is proposed for a type of \textit{leader-follower} multi-agent systems in $\mathbb{R}^3$. The novelty of the proposed localization method lies in the elimination of…

This paper addresses resilient collaborative localization in multi-agent systems exposed to spoofed radio frequency measurements. Each agent maintains multiple hypotheses of its own state and exchanges selected information with neighbors…

Localizing users and mapping the environment using radio signals is a key task in emerging applications such as low-latency communications and safety-critical navigation. Recently introduced multipath-based SLAM methods can jointly localize…

We investigate a scenario where a chaser spacecraft or satellite equipped with a monocular camera navigates in close proximity to a target spacecraft. The satellite's primary objective is to construct a representation of the operational…

Continuous-Time Simultaneous Localization And Mapping (CTSLAM) has become a promising approach for fusing asynchronous and multi-modal sensor suites. Unlike discrete-time SLAM, which estimates poses discretely, CTSLAM uses continuous-time…

We consider the External Clock Synchronization problem in dynamic sensor networks. Initially, sensors obtain inaccurate estimations of an external time reference and subsequently collaborate in order to synchronize their internal clocks…

This work considers the distributed computation of the one-to-one vertex correspondences between two undirected and connected graphs, which is called \textit{graph matching}, over multi-agent networks. Given two \textit{isomorphic} and…

We propose a distributed deployment solution for a group of mobile agents that should provide a service for a dense set of targets. The agents are heterogeneous in a sense that their quality of service (QoS), modeled as a spatial Gaussian…