相关论文: Coordination and geometric optimization via distri…
In this article, we investigate symmetry properties of distributed systems of mobile robots. We consider a swarm of $n\in\mathbb{N}$ robots in the $\mathcal{OBLOT}$ model and analyze their collective $\mathcal{F}$sync dynamics using of…
In this paper, we develop a distributed algorithm for solving a class of distributed convex optimization problems where the local objective functions can be a general nonsmooth function, and all equalities and inequalities are network-wide…
Distributed locking mechanisms are fundamental to ensuring data consistency and integrity in distributed systems. This paper presents a comprehensive analysis of distributed locking algorithms, focusing on their performance characteristics…
This paper addresses the problem of active information gathering for multi-robot systems. Specifically, we consider scenarios where robots are tasked with reducing uncertainty of dynamical hidden states evolving in complex environments. The…
Motion path planning is an intrinsically geometric problem which is central for design of robot systems. Since the early years of AI, robotics together with computer vision have been the areas of computer science that drove its development.…
This paper gives convex conditions for synthesis of a distributed control system for large-scale networked nonlinear dynamic systems. It is shown that the technique of control contraction metrics (CCMs) can be extended to this problem by…
Control architectures and autonomy stacks for complex engineering systems are often divided into layers to decompose a complex problem and solution into distinct, manageable sub-problems. To simplify designs, uncertainties are often ignored…
In this paper, distributed convex optimization problem over non-directed dynamical networks is studied. Here, networked agents with single-integrator dynamics are supposed to rendezvous at a point that is the solution of a global convex…
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
We consider the problem of managing a dynamic heterogeneous storage system in a distributed way so that the amount of data assigned to a host in that system is related to its capacity. Two central problems have to be solved for this: (1)…
The rapid deployment of robotics technologies requires dedicated optimization algorithms to manage large fleets of autonomous agents. This paper supports robotic parts-to-picker operations in warehousing by optimizing order-workstation…
In this work, we study dynamic programming (DP) algorithms for partially observable Markov decision processes with jointly continuous and discrete state-spaces. We consider a class of stochastic systems which have coupled discrete and…
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…
This paper focuses on the distributed optimization of stochastic saddle point problems. The first part of the paper is devoted to lower bounds for the centralized and decentralized distributed methods for smooth (strongly) convex-(strongly)…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
This work proposes multi-agent systems setting for concurrent engineering system design optimization and gradually paves the way towards examining graph theoretic constructs in the context of multidisciplinary design optimization problem.…
There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing…
Reliable autonomous navigation requires adapting the control policy of a mobile robot in response to dynamics changes in different operational conditions. Hand-designed dynamics models may struggle to capture model variations due to a…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…