Learn More
The navigation function methodology, established in previous work for centralized multiple robot navigation, is extended for decentralized navigation with input constraints. In contrast to the centralized case, each agent plans its actions without knowing the destinations of the other agents. Asymptotic stability is guaranteed by the existence of a global(More)
Control of mobile networks raises fundamental and novel problems in controlling the structure of the resulting dynamic graphs. In particular, in applications involving mobile sensor networks and multiagent systems, a great new challenge is the development of distributed motion algorithms that guarantee connectivity of the overall network. Motivated by the(More)
— The assignment problem constitutes one of the fundamental problems in the context of linear programming. Besides its theoretical significance, its frequent appearance in the areas of distributed control and facility allocation, where the problems' size and the cost for global computation and information can be highly prohibitive, gives rise to the need(More)
— Graph matching is a fundamental problem that arises frequently in the areas of distributed control, computer vision, and facility allocation. In this paper, we consider the optimal graph matching problem for weighted graphs, which is computationally challenging due the combinatorial nature of the set of permutations. Contrary to optimization-based(More)
— In this paper we provide a theoretical framework for controlling graph connectivity in mobile robot networks. We discuss proximity-based communication models composed of disk-based or uniformly-fading-signal-strength communication links. A graph theoretic definition of connectivity is provided, as well as an equivalent definition based on algebraic graph(More)
Gene regulatory networks capture the interactions between genes and other cell substances, resulting from the fundamental biological process of transcription and translation. In some applications, the topology of the regulatory network is not known, and has to be inferred from experimental data. The experimental data consist of expression levels of the(More)
We propose a novel distributed method for convex optimization problems with a certain separability structure. The method is based on the augmented Lagrangian framework. We analyze its convergence and provide an application to two network models, as well as to a two-stage stochastic optimization problem. The proposed method compares favorably to two(More)
Multiple-pursuer multiple-evader games raise fundamental and novel problems in control theory and robotics. In this paper, we propose a distributed solution to this problem that simultaneously addresses the discrete assignment of pursuers to evaders as well as the continuous control strategies for capturing individual evaders. The resulting hybrid(More)
This paper presents a novel method that enables a team of aerial robots to enclose a target in 3D space by attaining a desired geometric formation around it. We propose an approach in which each robot obtains its motion commands using measurements of the relative position of the other agents and of the target, without the need for a central coordinator. As(More)