9 papers
Multiscale distributed MPC for Optimal Transport
Guillem Pascual, Yu-Jen Huang, Sonia Martínez
In this paper, we present a novel multiscale formulation for the Optimal Transport (OT) of large swarms. The scheme is divided in two levels, a top-level OT formulation with a term…
Accelerated Safe Gradient Flow
Xuting Gao, Sonia Martínez
This letter introduces an accelerated safe gradient flow (A-SGF) for strongly convex constrained optimization problems. The A-SGF filters a nominal second-order accelerated flow th…
Distributionally Robust Nash Equilibrium Seeking with Partial Observations and Distributed Communication
Nirabhra Mandal, Sonia Martínez
In this work, we study stochastic one-shot games where agents' utilities depend on the collective strategy profiles of other agents as well as on some well-behaved randomness. Whil…
Input-to-State Stability of Gradient Flows in Distributional Space
Guillem Pascual, Sonia Martínez
This paper proposes a new notion of distributional Input-to-State Stability (dISS) for dynamic systems evolving in probability spaces over a domain. Unlike other norm-based ISS con…
A Distributed Bilevel Framework for the Macroscopic Optimization of Multi-Agent Systems
Riccardo Brumali, Guido Carnevale, Sonia Martínez +1
In this paper, we propose a novel distributed algorithm to optimize the emergent macroscopic behavior of large-scale multi-agent systems via microscopic actions. We cast this task…
Enhancing network resilience through topological switching
Fei Chen, Jorge Cortés, Sonia Martínez
This work studies how to preemptively increase the resilience of a network by means of time-varying topological actuation. To do this, we focus on linear dynamical systems that are…
Banach Control Barrier Functions for Large-Scale Swarm Control
Xuting Gao, Guillem Pascual, Scott Brown +1
This paper studies the safe control of very large multi-agent systems via a generalized framework that employs so-called Banach Control Barrier Functions (B-CBFs). Modeling a large…
Visibility in Polygonal Environments with Holes: Finding Best Spots for Hiding and Surveillance
Neilabh Banzal, Jorge Cortés, Sonia Martínez
Visibility plays an important role for decision making in cluttered, uncertain environments. This paper considers the problem of identifying optimal hiding spots for an agent again…
Gradient sampling algorithm for subsmooth functions
Dimitris Boskos, Jorge Cortés, Sonia Martínez
This paper considers non-smooth optimization problems where we seek to minimize the pointwise maximum of a continuously parameterized family of functions. Since the objective funct…