相关论文: Reaching a Target in the Plane with no Information

This paper proposes a strategy to estimate the velocity and position of neighbor agents using distance measurements only. Since with agents executing arbitrary motions, instantaneous distance-only measurements cannot provide enough…

Consider a target moving at a constant velocity on a unit-circumference circle, starting at an arbitrary location. To acquire the target, any region of the circle can be probed to obtain a noisy measurement of the target's presence, where…

We consider the problem of using multiple agents to harvest data from a collection of sensor nodes (targets) scattered across a two-dimensional environment. These targets transmit their data to the agents that move in the space above them,…

I study a principal-agent model in which a principal hires an agent to collect information about an unknown continuous state. The agent acquires a signal whose distribution is centered around the state, controlling the signal's precision at…

Path-planning for autonomous vehicles in threat-laden environments is a fundamental challenge. While traditional optimal control methods can find ideal paths, the computational time is often too slow for real-time decision-making. To solve…

We study the problems of asymptotic and approximate consensus in which agents have to get their values arbitrarily close to each others' inside the convex hull of initial values, either without or with an explicit decision by the agents. In…

We introduce a simple benchmark model of dynamic matching in networked markets, where agents arrive and depart stochastically and the network of acceptable transactions among agents forms a random graph. We analyze our model from three…

We consider a problem where autonomous agents enter a dynamic and unknown environment described by a network of weighted arcs. These agents move within the network from node to node according to a decentralized policy using only local…

We introduce and study the general setting of weighted search in which a number of targets, each with a certain weight, are hidden in a star-like environment that consists of $m$ infinite, concurrent rays, with a common origin. A mobile…

In this paper a convergent, nearest-neighbor, control protocol is suggested for agents with nontrivial dynamics. The protocol guarantees convergence to a common point in space even if each agent is restricted to communicate with a single…

Recent papers have shown optimally-competitive on-line strategies for a robot traveling from a point $s$ to a point $t$ in certain unknown geometric environments. We consider the question: Having gained some partial information about the…

The minimum-time path for intercepting a moving target with a prescribed impact angle is studied in the paper. The candidate paths from Pontryagin's maximum principle are analyzed, so that each candidate is related to a zero of a…

The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-agent range measurements are available at a low cost, due to…

We study Bayesian automated mechanism design in unstructured dynamic environments, where a principal repeatedly interacts with an agent, and takes actions based on the strategic agent's report of the current state of the world. Both the…

In a variety of applications, an agent's success depends on the knowledge that an adversarial observer has or can gather about the agent's decisions. It is therefore desirable for the agent to achieve a task while reducing the ability of an…

When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…

In this demo work we develop a method to plan and coordinate a multi-agent team to gather information on demand. The data is periodically requested by a static Operation Center (OC) from changeable goals locations. The mission of the team…

We consider the problem of finding the closest lattice point to a vector in n-dimensional Euclidean space when each component of the vector is available at a distinct node in a network. Our objectives are (i) minimize the communication cost…

We investigate the mechanism design problem faced by a principal who hires \emph{multiple} agents to gather and report costly information. Then, the principal exploits the information to make an informed decision. We model this problem as a…

We address optimal placement of vehicles with simple motion to intercept a mobile target that arrives stochastically on a line segment. The optimality of vehicle placement is measured through a cost function associated with intercepting the…