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In this paper, we consider the cooperative output regulation problem for heterogeneous linear multi-agent systems in the presence of communication constraints. Under standard assumptions on the agents dynamics, we propose a distributed…

This dissertation is a study on the design and analysis of novel, optimal routing and rate control algorithms in wireless, mobile communication networks. Congestion control and routing algorithms upto now have been designed and optimized…

As the discovery of non-Poissonian statistics of human mobility trajectories, more attention has been paid to understanding the role of these patterns in different dynamics. In this study, we first introduce the heterogeneous mobility of…

We consider a problem of cooperative evasion between a single pursuer and multiple evaders in which the evaders are constrained to move in the positive Y direction. The evaders are slower than the vehicle and can choose their speeds from a…

In this paper, we study the interplay between individual behaviors and epidemic spreading in a dynamical network. We distribute agents on a square-shaped region with periodic boundary conditions. Every agent is regarded as a node of the…

When robots share the same workspace with other intelligent agents (e.g., other robots or humans), they must be able to reason about the behaviors of their neighboring agents while accomplishing the designated tasks. In practice,…

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…

Most existing routing strategies to improve transport efficiency have little attention what order should the packets be delivered, just simply used first-in-first-out queue discipline. However, it is far from optimal. In this paper we apply…

With the popularity of portable wireless devices it is important to model and predict how information or contagions spread by natural human mobility -- for understanding the spreading of deadly infectious diseases and for improving delay…

This paper introduces a novel cooperative vehicular communication algorithm tailored for future 6G ultra-massive vehicle-to-everything (V2X) networks leveraging integrated space-air-ground communication systems. Specifically, we address the…

Two identical anonymous mobile agents have to meet at a node of the infinite oriented grid whose nodes are unlabeled. This problem is known as rendezvous. The agents execute the same deterministic algorithm. Time is divided into rounds, and…

In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…

Given a connected region in two-dimensional space where events of a certain kind occur according to a certain time-varying density, we consider the problem of setting up a network of autonomous mobile agents to detect the occurrence of…

Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…

We consider a broadcast scenario where one transmitter communicates with two receivers under quality-of-service constraints. The transmitter initially employs superposition coding strategies with arbitrarily distributed signals and sends…

This paper proposes a novel planning framework to handle a multi-agent pathfinding problem under team-connected communication constraint, where all agents must have a connected communication channel to the rest of the team during their…

A team of mobile agents, starting from different nodes of an unknown network, possibly at different times, have to meet at the same node and declare that they have all met. Agents have different labels and move in synchronous rounds along…

In this paper we consider the problem of transmission power allocation for remote estimation of a dynamical system in the case where the estimator is able to simultaneously receive packets from multiple interfering sensors, as it is…

This paper investigates the resource allocation optimization for cooperative communication with non-cooperative localization in integrated sensing and communications (ISAC)-enabled multi-unmanned aerial vehicle (UAV) cooperative networks.…

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…