332 citations · 376 across the 32 of their papers we have counts for
17 papers · 1 filter
Optimistic Distributed Submodular Coordination with Applications to Multi-Target Tracking with Multiple Robots
Pranjal Sharma, Atharva Navsalkar, Zirui Xu +1
We provide a distributed online algorithm for multi-agent submodular coordination in bandit environments, i.e., environments whose evolution is unknown a priori and may even adapt…
Asynchronous Distributed Bandit Submodular Maximization under Heterogeneous Communication Delays
Pranjal Sharma, Zirui Xu, Vasileios Tzoumas
We study asynchronous distributed decision-making for scalable multi-agent bandit submodular maximization. We are motivated by distributed information-gathering tasks in unknown en…
Distributed Equilibrium-Seeking in Target Coverage Games via Self-Configurable Networks under Limited Communication
Jayanth Bhargav, Zirui Xu, Vasileios Tzoumas +2
We study a target coverage problem in which a team of sensing agents, operating under limited communication, must collaboratively monitor targets that may be adaptively repositione…
Self-Configurable Mesh-Networks for Scalable Distributed Submodular Bandit Optimization
Zirui Xu, Vasileios Tzoumas
We study how to scale distributed bandit submodular coordination under realistic communication constraints in bandwidth, data rate, and connectivity. We are motivated by multi-agen…
No-Regret Model Predictive Control with Online Learning of Koopman Operators
Hongyu Zhou, Vasileios Tzoumas
We study a problem of simultaneous system identification and model predictive control of nonlinear systems. Particularly, we provide an algorithm for systems with unknown residual…
End-to-End Learning Framework for Solving Non-Markovian Optimal Control
Xiaole Zhang, Peiyu Zhang, Xiongye Xiao +4
Integer-order calculus often falls short in capturing the long-range dependencies and memory effects found in many real-world processes. Fractional calculus addresses these gaps vi…
Performance-Aware Self-Configurable Multi-Agent Networks: A Distributed Submodular Approach for Simultaneous Coordination and Network Design
Zirui Xu, Vasileios Tzoumas
We introduce the first, to our knowledge, rigorous approach that enables multi-agent networks to self-configure their communication topology to balance the trade-off between scalab…
Leveraging Untrustworthy Commands for Multi-Robot Coordination in Unpredictable Environments: A Bandit Submodular Maximization Approach
Zirui Xu, Xiaofeng Lin, Vasileios Tzoumas
We study the problem of multi-agent coordination in unpredictable and partially-observable environments with untrustworthy external commands. The commands are actions suggested to…
Safe Non-Stochastic Control of Control-Affine Systems: An Online Convex Optimization Approach
Hongyu Zhou, Yichen Song, Vasileios Tzoumas
We study how to safely control nonlinear control-affine systems that are corrupted with bounded non-stochastic noise, i.e., noise that is unknown a priori and that is not necessari…
Safe Non-Stochastic Control of Linear Dynamical Systems
Hongyu Zhou, Vasileios Tzoumas
We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violatio…
Bandit Submodular Maximization for Multi-Robot Coordination in Unpredictable and Partially Observable Environments
Zirui Xu, Xiaofeng Lin, Vasileios Tzoumas
We study the problem of multi-agent coordination in unpredictable and partially observable environments, that is, environments whose future evolution is unknown a priori and that c…
Online Submodular Coordination with Bounded Tracking Regret: Theory, Algorithm, and Applications to Multi-Robot Coordination
Zirui Xu, Hongyu Zhou, Vasileios Tzoumas
We enable efficient and effective coordination in unpredictable environments, i.e., in environments whose future evolution is unknown a priori and even adversarial. We are motivate…
Safe Control of Partially-Observed Linear Time-Varying Systems with Minimal Worst-Case Dynamic Regret
Hongyu Zhou, Vasileios Tzoumas
We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorit…
Minimal Reachability is Hard To Approximate
Ali Jadbabaie, Alexander Olshevsky, George J. Pappas +1
In this note, we consider the problem of choosing which nodes of a linear dynamical system should be actuated so that the state transfer from the system's initial condition to a gi…
Scheduling Nonlinear Sensors for Stochastic Process Estimation
Vasileios Tzoumas, Nikolay A. Atanasov, Ali Jadbabaie +1
In this paper, we focus on activating only a few sensors, among many available, to estimate the state of a stochastic process of interest. This problem is important in applications…
Minimal Actuator Placement with Optimal Control Constraints
Vasileios Tzoumas, Mohammad Amin Rahimian, George J. Pappas +1
We introduce the problem of minimal actuator placement in a linear control system so that a bound on the minimum control effort for a given state transfer is satisfied while contro…
Minimal Reachability Problems
Vasileios Tzoumas, Ali Jadbabaie, George J. Pappas
In this paper, we address a collection of state space reachability problems, for linear time-invariant systems, using a minimal number of actuators. In particular, we design a zero…