相关论文: Deterministic rendezvous with detection using beep…
In this paper, we consider a multi-agent resilient consensus problem, where some of the nodes may behave maliciously. The approach is to equip all nodes with a scheme to detect neighboring nodes when they behave in an abnormal fashion. To…
Exploring the collective behavior of interacting entities is of great interest and importance. Rather than focusing on static and uniform connections, we examine the co-evolution of diverse mobile agents experiencing varying interactions…
Neural agents trained in reinforcement learning settings can learn to communicate among themselves via discrete tokens, accomplishing as a team what agents would be unable to do alone. However, the current standard of using one-hot vectors…
One of the most essential prerequisites behind a successful task execution of a team of agents is to accurately estimate and track their poses. We consider a cooperative multi-agent positioning problem where each agent performs single-agent…
We study the task of Byzantine gathering in a network modeled as a graph. Despite the presence of Byzantine agents, all the other (good) agents, starting from possibly different nodes and applying the same deterministic algorithm, have to…
Recent papers have introduced the Motivation Dynamics framework, which uses bifurcations to encode decision-making behavior in an autonomous mobile agent. In this paper, we consider the multi-agent extension of the Motivation Dynamics…
The game of rendezvous with adversaries is a game on a graph played by two players: Facilitator and Divider. Facilitator has two agents and Divider has a team of $k \ge 1$ agents. While the initial positions of Facilitator's agents are…
We consider a sequential problem in decentralized detection. Two observers can make repeated noisy observations of a binary hypothesis on the state of the environment. At any time, any of the two observers can stop and send a final message…
In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a…
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on local observations, this approach falters in complex…
In this paper, we develop a \textit{distributed} algorithm to localize an arbitrary number of agents moving in a bounded region of interest. We assume that the network contains \textit{at least one} agent with known location (hereinafter…
We consider the classical contention resolution problem where nodes arrive over time, each with a message to send. In each synchronous slot, each node can send or remain idle. If in a slot one node sends alone, it succeeds; otherwise, if…
A crucial challenge in decentralized systems is state estimation in the presence of unknown inputs, particularly within heterogeneous sensor networks with dynamic topologies. While numerous consensus algorithms have been introduced, they…
A set of mobile robots is placed at points of an infinite line. The robots are equipped with GPS devices and they may communicate their positions on the line to a central authority. The collection contains an unknown subset of "spies",…
We consider the fundamental problems of size discovery and topology recognition in radio networks modeled by simple undirected connected graphs. Size discovery calls for all nodes to output the number of nodes in the graph, called its size,…
We adapt a recent algorithm by Ghaffari [SODA'16] for computing a Maximal Independent Set in the LOCAL model, so that it works in the significantly weaker BEEP model. For networks with maximum degree $\Delta$, our algorithm terminates…
During epidemics, the population is asked to Socially Distance, with pairs of individuals keeping two meters apart. We model this as a new optimization problem by considering a team of agents placed on the nodes of a network. Their common…
This paper studies the distributed mode consensus problem in a multi-agent system, in which the agents each possess a certain attribute and they aim to agree upon the mode (the most frequent attribute owned by the agents) via distributed…
In this paper, we consider the consensus problem of dynamical multiple agents that communicate via a directed moving neighborhood random network. Each agent performs random walk on a weighted directed network. Agents interact with each…
We tackle the problem of a set of agents achieving resilient consensus in the presence of attacked agents. We present a discrete-time reputation-based consensus algorithm for synchronous and asynchronous networks by developing a local…