66 citations · 207 across the 16 of their papers we have counts for
17 papers
An ADMM-Based Approach to Quadratically-Regularized Distributed Optimal Transport on Graphs
Yacine Mokhtari, Emmanuel Moulay, Patrick Coirault +1
Optimal transport on a graph focuses on finding the most efficient way to transfer resources from one distribution to another while considering the graph's structure. This paper in…
Social Optimum of a Linear Quadratic Collective Choice Model under Congestion
Noureddine Toumi, Roland Malhamé, Jérôme Le Ny
This paper investigates the social optimum for a dynamic linear quadratic collective choice problem where a group of agents choose among multiple alternatives or destinations. The…
Optimal Robot Formations: Balancing Range-Based Observability and User-Defined Configurations
Syed Shabbir Ahmed, Mohammed Ayman Shalaby, Jerome Le Ny +1
This paper introduces a set of customizable and novel cost functions that enable the user to easily specify desirable robot formations, such as a ``high-coverage'' infrastructure-i…
Gaussian-Sum Filter for Range-based 3D Relative Pose Estimation in the Presence of Ambiguities
Syed S. Ahmed, Mohammed A. Shalaby, Charles C. Cossette +2
Multi-robot systems must have the ability to accurately estimate relative states between robots in order to perform collaborative tasks, possibly with no external aiding. Three-dim…
IMU Preintegration for Multi-Robot Systems in the Presence of Bias and Communication Constraints
Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
This document is in supplement to the paper titled "Multi-Robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers", available at [1]. The purpose of th…
Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements
Mohammed Shalaby, Charles Champagne Cossette, James Richard Forbes +1
The ability to accurately estimate the position of robotic agents relative to one another, in possibly GPS-denied environments, is crucial to execute collaborative tasks. Inter-age…
Ranging-Based Localizability Optimization for Mobile Robotic Networks
Justin Cano, Jerome Le Ny
In robotic networks relying on noisy range measurements between agents for cooperative localization, the achievable positioning accuracy strongly strongly depends on the network ge…
Relative Position Estimation Between Two UWB Devices with IMUs
Charles C. Cossette, Mohammed Shalaby, David Saussié +2
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execu…
Cascaded Filtering Using the Sigma Point Transformation (Extended Version)
Mohammed Shalaby, Charles Champagne Cossette, Jerome Le Ny +1
It is often convenient to separate a state estimation task into smaller "local" tasks, where each local estimator estimates a subset of the overall system state. However, neglectin…
Localizability-Constrained Deployment of Mobile Robotic Networks with Noisy Range Measurements
Jerome Le Ny, Simon Chauvière
When nodes in a mobile network use relative noisy measurements with respect to their neighbors to estimate their positions, the overall connectivity and geometry of the measurement…
A Two-Stage Architecture for Differentially Private Kalman Filtering and LQG Control
Kwassi H. Degue, Jerome Le Ny
Large-scale monitoring and control systems enabling a more intelligent infrastructure increasingly rely on sensitive data obtained from private agents, e.g., location traces collec…
Autonomous Landing of a Multirotor Micro Air Vehicle on a High Velocity Ground Vehicle
Alexandre Borowczyk, Duc-Tien Nguyen, André Phu-Van Nguyen +3
While autonomous multirotor micro aerial vehicles (MAVs) are uniquely well suited for certain types of missions benefiting from stationary flight capabilities, their more widesprea…
Dynamic Collective Choice: Social Optima
Rabih Salhab, Jerome Le Ny, Roland P. Malhamé
We consider a dynamic collective choice problem where a large number of players are cooperatively choosing between multiple destinations while being influenced by the behavior of t…
Collective Stochastic Discrete Choice Problems: A Min-LQG Game Formulation
Rabih Salhab, Roland P. Malhamé, Jerome Le Ny
We consider a class of dynamic collective choice models with social interactions, whereby a large number of non-uniform agents have to individually settle on one of multiple discre…
A Motion Planning Strategy for the Active Vision-Based Mapping of Ground-Level Structures
Manikandasriram Srinivasan Ramanagopal, André Phu-Van Nguyen, Jerome Le Ny
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional s…
Privacy-Preserving Nonlinear Observer Design Using Contraction Analysis
Jerome Le Ny
Real-time information processing applications such as those enabling a more intelligent infrastructure are increasingly focused on analyzing privacy-sensitive data obtained from in…
A Dynamic Game Model of Collective Choice in Multi-Agent Systems
Rabih Salhab, Roland P. Malhamé, Jerome Le Ny
Inspired by successful biological collective decision mechanisms such as honey bees searching for a new colony or the collective navigation of fish schools, we consider a mean fiel…