22 citations · 85 across the 22 of their papers we have counts for
23 papers
Policy Gradient with Self-Attention for Model-Free Distributed Nonlinear Multi-Agent Games
Eduardo Sebastián, Maitrayee Keskar, Eeman Iqbal +3
Multi-agent games in dynamic nonlinear settings are challenging due to the time-varying interactions among the agents and the non-stationarity of the (potential) Nash equilibria. I…
AVOCADO: Adaptive Optimal Collision Avoidance driven by Opinion
Diego Martinez-Baselga, Eduardo Sebastián, Eduardo Montijano +3
We present AVOCADO (AdaptiVe Optimal Collision Avoidance Driven by Opinion), a novel navigation approach to address holonomic robot collision avoidance when the robot does not know…
Accelerated Alternating Direction Method of Multipliers Gradient Tracking for Distributed Optimization
Eduardo Sebastián, Mauro Franceschelli, Andrea Gasparri +2
This paper presents a novel accelerated distributed algorithm for unconstrained consensus optimization over static undirected networks. The proposed algorithm combines the benefits…
Towards Parameter-free Distributed Optimization: a Port-Hamiltonian Approach
Rodrigo Aldana-López, Alessandro Macchelli, Giuseppe Notarstefano +2
This paper introduces a novel distributed optimization technique for networked systems, which removes the dependency on specific parameter choices, notably the learning rate. Tradi…
Distributed Discrete-time Dynamic Outer Approximation of the Intersection of Ellipsoids
Eduardo Sebastián, Rodrigo Aldana-López, Rosario Aragüés +2
This paper presents the first discrete-time distributed algorithm to track the tightest ellipsoids that outer approximates the global dynamic intersection of ellipsoids. Given an u…
Cooperative Periodic Coverage With Collision Avoidance
José Manuel Palacios-Gasós, Eduardo Montijano, Carlos Sagüés +1
In this paper we propose a periodic solution to the problem of persistently covering a finite set of interest points with a group of autonomous mobile agents. These agents visit pe…
Equitable Persistent Coverage of Non-Convex Environments with Graph-Based Planning
José Manuel Palacios-Gasós, Danilo Tardioli, Eduardo Montijano +1
In this paper we tackle the problem of persistently covering a complex non-convex environment with a team of robots. We consider scenarios where the coverage quality of the environ…
Scale-free vision-based aerial control of a ground formation with hybrid topology
Miguel Aranda, Youcef Mezouar, Gonzalo López-Nicolás +1
We present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial…
Perception-latency aware distributed target tracking
Rodrigo Aldana-López, Rosario Aragüés, Carlos Sagüés
This work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robo…
PLATE: A perception-latency aware estimator,
Rodrigo Aldana-López, Rosario Aragüés, Carlos Sagüés
Target tracking is a popular problem with many potential applications. There has been a lot of effort on improving the quality of the detection of targets using cameras through dif…
Latency vs precision: Stability preserving perception scheduling
Rodrigo Aldana-López, Rosario Aragüés, Carlos Sagüés
In robotic systems, perception latency is a term that refers to the computing time measured from the data acquisition to the moment in which perception output is ready to be used t…
Physics-Informed Multi-Agent Reinforcement Learning for Distributed Multi-Robot Problems
Eduardo Sebastian, Thai Duong, Nikolay Atanasov +2
The networked nature of multi-robot systems presents challenges in the context of multi-agent reinforcement learning. Centralized control policies do not scale with increasing numb…
ECO-DKF: Event-Triggered and Certifiable Optimal Distributed Kalman Filter under Unknown Correlations
Eduardo Sebastián, Eduardo Montijano, Carlos Sagüés
This paper presents ECO-DKF, the first Event-Triggered and Certifiable Optimal Distributed Kalman Filter. Our algorithm addresses two major issues inherent to Distributed Kalman Fi…
Learning to Identify Graphs from Node Trajectories in Multi-Robot Networks
Eduardo Sebastian, Thai Duong, Nikolay Atanasov +2
The graph identification problem consists of discovering the interactions among nodes in a network given their state/feature trajectories. This problem is challenging because the b…
Distributed outer approximation of the intersection of ellipsoids
Rodrigo Aldana-Lopez, Eduardo Sebastian, Rosario Aragues +2
The outer Lowner-John method is widely used in sensor fusion applications to find the smallest ellipsoid that can approximate the intersection of a set of ellipsoids, described by…
Event-based Visual Tracking in Dynamic Environments
Irene Perez-Salesa, Rodrigo Aldana-Lopez, Carlos Sagues
Visual object tracking under challenging conditions of motion and light can be hindered by the capabilities of conventional cameras, prone to producing images with motion blur. Eve…
Multi-robot Implicit Control of Massive Herds
Eduardo Sebastian, Eduardo Montijano, Carlos Sagues
This paper solves the problem of herding countless evaders by means of a few robots. The objective is to steer all the evaders towards a desired tracking reference while avoiding e…
LEMURS: Learning Distributed Multi-Robot Interactions
Eduardo Sebastian, Thai Duong, Nikolay Atanasov +2
This paper presents LEMURS, an algorithm for learning scalable multi-robot control policies from cooperative task demonstrations. We propose a port-Hamiltonian description of the m…
Adaptive Multi-robot Implicit Control of Heterogeneous Herds
Eduardo Sebastián, Eduardo Montijano, Carlos Sagüés
This paper presents a novel control strategy to herd groups of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typi…
REDCHO: Robust Exact Dynamic Consensus of High Order
Rodrigo Aldana-López, Rosario Aragüés, Carlos Sagüés
This article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Recently, the EDCHO protocol leveraged…
EDCHO: High Order Exact Dynamic Consensus
Rodrigo Aldana-López, Rosario Aragüés, Carlos Sagüés
This article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Although this problem has been address…
All-in-one: Certifiable Optimal Distributed Kalman Filter under Unknown Correlations
Eduardo Sebastián, Eduardo Montijano, Carlos Sagüés
The optimal fusion of estimates in a Distributed Kalman Filter (DKF) requires tracking of the complete network error covariance, problematic in terms of memory and communication. A…
Simultaneous Deployment and Tracking Multi-Robot Strategies with Connectivity Maintenance
Javier Tardós, Rosario Aragues, Carlos Sagüés +1
Multi robot teams composed by ground and aerial vehicles have gained attention during the last years. We present a scenario where both types of robots must monitor the same area fr…