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Consensus problem of high-order integral multi-agent systems under switching directed topology is considered in this study. Depending on whether the agent's full state is available or not, two distributed protocols are proposed to ensure…

Several distributed algorithms are presented for the exploration of unknown indoor regions by a swarm of flying, energy constrained agents. The agents, which are identical, autonomous, anonymous and oblivious, uniformly cover the region and…

A group of intelligent agents which fulfill a set of tasks in parallel is represented first by the tensor multiplication of corresponding processes in a linear logic game category. An optimal itinerary in the configuration space of the…

This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents…

Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…

The iterative consensus problem requires a set of processes or agents with different initial values, to interact and update their states to eventually converge to a common value. Protocols solving iterative consensus serve as building…

In the distributed localization problem (DLP), $n$ anonymous robots (agents) $a_0, a_1, ..., a_{n-1}$ begin at arbitrary positions $p_0, ..., p_{n-1}$ in $S$, where $S$ is an Euclidean space. The primary goal in DLP is for agents to reach a…

Passengers board a fully booked airplane in order. The first passenger picks one of the seats at random. Each subsequent passenger takes his or her assigned seat if available, otherwise takes one of the remaining seats at random. It is well…

In the symmetric rendezvous problem two players follow the same (randomized) strategy to visit one of $n$ locations in each time step $t=0,1,2,\dots$. Their goal is to minimize the expected time until they visit the same location and thus…

Motivated by applications in intelligent highway systems, the paper studies the problem of guiding mobile agents in a one-dimensional formation to their desired relative positions. Only coarse information is used which is communicated from…

Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…

In this Paper we propose a simple yet effective set of local control rules to make a group of "herder agents" collect and contain in a desired region an ensemble of non-cooperative stochastic "target agents" in the plane. We investigate the…

We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…

In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of…

Multi-robot teams must coordinate to operate effectively. When a team operates in an uncoordinated manner, and agents choose actions that are only individually optimal, the team's outcome can suffer. However, in many domains, coordination…

Demand for fast and inexpensive parcel deliveries in urban environments has risen considerably in recent years. A framework is envisioned to enforce efficient last mile delivery in urban environments by leveraging a network of ride-sharing…

This paper presents a decentralized algorithm for a team of agents to track time-varying fixed points that are the solutions to time-varying convex optimization problems. The algorithm is first-order, and it allows for total asynchrony in…

We propose an asynchronous, decentralized algorithm for consensus optimization. The algorithm runs over a network in which the agents communicate with their neighbors and perform local computation. In the proposed algorithm, each agent can…

We consider a Multi-Agent Path Finding (MAPF) setting where agents have been assigned a plan, but during its execution some agents are delayed. Instead of replanning from scratch when such a delay occurs, we propose delay introduction,…

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…