相关论文: On Asynchrony, Memory, and Communication: Separati…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
State-of-the-art distributed algorithms for reinforcement learning rely on multiple independent agents, which simultaneously learn in parallel environments while asynchronously updating a common, shared policy. Moreover, decentralized…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
We are given $N$ autonomous mobile robots inside a bounded region. The robots are opaque which means that three collinear robots are unable to see each other as one of the robots acts as an obstruction for the other two. They operate in…
Consider a set of $n$ simple autonomous mobile robots (asynchronous, no common coordinate system, no identities, no central coordination, no direct communication, no memory of the past, non-rigid, deterministic) initially in distinct…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
A common paradigm for scientific computing is distributed message-passing systems, and a common approach to these systems is to implement them across clusters of high-performance workstations. As multi-core architectures become increasingly…
Space is a circuit oriented, spatial programming language designed to exploit the massive parallelism available in a novel formal model of computation called the Synchronic A-Ram, and physically related FPGA and reconfigurable…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
A novel language system has given rise to promising alternatives to standard formal and processor network models of computation. An interstring linked with a abstract machine environment, shares sub-expressions, transfers data, and…
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve across space and time, and ensuring persistent operation…
In this paper, we provide a framework integrating distributed multi-robot systems and temporal epistemic logic. We show that continuous-discrete hybrid systems are compatible with logical models of knowledge already used in distributed…
Aligning future system design with the ever-increasing compute needs of large language models (LLMs) is undoubtedly an important problem in today's world. Here, we propose a general performance modeling methodology and workload analysis of…
We present a new parallel model of computation suitable for spatial architectures, for which the energy used for communication heavily depends on the distance of the communicating processors. In our model, processors have locations on a…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…
The distributed computing literature considers multiple options for modeling communication. Most simply, communication is categorized as either synchronous or asynchronous. Synchronous communication assumes that messages get delivered…
Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…
A fundamental problem in distributed computing is the task of cooperatively executing a given set of $t$ tasks by $p$ processors where the communication medium is dynamic and subject to failures. The dynamics of the communication medium…
Emergent communication enables partially observant Autonomous Mobile Robots (AMRs) to coordinate effectively in decentralized multi-agent reinforcement learning (MARL) settings. However, existing approaches often struggle with unstable…