Involves distributed coordination of multiple agents
The goal of formation control is to move a group of agents in order to achieve and maintain a set of desired relative positions. This problem has a long history, and latest trends emphasize the use of vision-based solution. In this setting, the measurement of the relative direction (i.e., bearing) between two agents can be […]
Imagine a wireless camera network, where each camera has a piece of local information, e.g., the pose of the object from a specific viewpoint or the relative poses with respect to the neighboring cameras. It is natural to look for distributed algorithms which merge all these local measurements into a single, globally consistent estimate. I […]
Given a group of agents which move in Euclidean space and communicate according to a given communication graph, standard consensus algorithms provide a protocol which, as time passes, brings all the agents to a common location. The key aspect here is that only local communications are used. These algorithms, however, do not apply when the […]
I worked on distributed optimization problems involving variables lying on non-linear spaces (that is, Riemannian manifolds) using extensions of gradient descent algorithms with fixed step size. I developed novel theoretical tools which significantly broadened the state of the art for determining sufficient conditions for global behaviors (algorithm convergence) using only local information. These tools have […]