8 papers
Submodular Policy Learning for Distributed Task Allocation in Open Multi-Agent Systems
Jing Liu, Luca Ballotta, Yangyang Yang +3
This paper studies policy learning for distributed task allocation in open multi-agent systems, where agents may join and leave in a time-varying fashion, with submodular stage tea…
Adaptive Stepsizes With Certified Convergence in Distributed Gradient Tracking With Quadratic Costs
Yifan Wang, Luca Ballotta, Ruggero Carli +3
In this work, we propose an adaptive stepsize rule with guaranteed convergence for Distributed Gradient Tracking applied to scalar quadratic problems with heterogeneous curvatures.…
Pursuing Optimal Stepsize in Adaptive Gradient-Based Quadratic Optimization
Yifan Wang, Luca Ballotta, Ruggero Carli +2
In this paper, we address the problem of achieving fast convergence in gradient descent for quadratic functions without relying on a priori knowledge of global function parameters.…
Submodular Multi-Agent Policy Learning for Online Distributed Task Allocation in Open Multi-Agent Systems
Jing Liu, Yangyang Yang, Luca Ballotta +3
This paper studies multi-agent reinforcement learning with submodular team utilities for online distributed task allocation. In this setting, each agent selects one action from a l…
The role of communication delays in the optimal control of spatially invariant systems
Luca Ballotta, Juncal Arbelaiz, Vijay Gupta +2
We study optimal proportional feedback controllers for spatially invariant systems when the controller has access to delayed state measurements received from different spatial loca…
Safe Distributed Control of Multi-Robot Systems with Communication Delays
Luca Ballotta, Rajat Talak
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in…