4 papers · 1 filter
Asynchronous Distributed Multi-Robot Motion Planning Under Imperfect Communication
Ardalan Tajbakhsh, Augustinos Saravanos, James Zhu +3
This paper addresses the challenge of coordinating multi-robot systems under realistic communication delays using distributed optimization. We focus on consensus ADMM as a scalable…
Operator Splitting Covariance Steering for Safe Stochastic Nonlinear Control
Akash Ratheesh, Vincent Pacelli, Augustinos D. Saravanos +1
This paper presents a novel algorithm for solving distribution steering problems featuring nonlinear dynamics and chance constraints. Covariance steering (CS) is an emerging method…
Scaling Robust Optimization for Multi-Agent Robotic Systems: A Distributed Perspective
Arshiya Taj Abdul, Augustinos D. Saravanos, Evangelos A. Theodorou
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimiza…
Distributed Model Predictive Covariance Steering
Augustinos D. Saravanos, Isin M. Balci, Efstathios Bakolas +1
This paper proposes Distributed Model Predictive Covariance Steering (DiMPCS) for multi-agent control under stochastic uncertainty. The scope of our approach is to blend covariance…