9 accepted papers
This work views the multi-agent system and its surrounding environment as a co-evolving system. The goal is to take agent actions and environment configurations as decision variables, and optimize both in a coordinated manner. Towards this end, we consider the problem of decentralized multi-agent na…
Recently, Few-shot Learning (FSL) has become a popular task that aims to recognize new classes from only a few labeled examples and has been widely applied in fields such as natural science, remote sensing, and medical images. However, most existing methods focus only on the visual modality and comp
Constraint-based optimization is a cornerstone of robotics, enabling the design of controllers that reliably encode task and safety requirements such as collision avoidance or formation adherence. However, handcrafted constraints can fail in multi-agent settings that demand complex coordination. We…
Control Barrier Functions (CBFs) provide safety guarantees for multi-agent navigation. However, traditional approaches require full knowledge of the environment (e.g., obstacle positions and shapes) to formulate CBFs and hence, are not applicable in unknown environments. This paper overcomes this is…
Traditional approaches to the design of multiagent navigation algorithms consider the environment as a fixed constraint, despite the obvious influence of spatial constraints on agents' performance. Yet hand-designing improved environment layouts and structures is inefficient and potentially expensiv…
Stochastic graph neural networks (SGNNs) are information processing architectures that can learn representations from data over random graphs. SGNNs are trained with respect to the expected performance, but this training comes with no guarantee about the deviation of particular output realizations a…
Graph neural networks (GNNs) learn representations from network data with naturally distributed architectures, rendering them well-suited candidates for decentralized learning. Oftentimes, this decentralized graph support changes with time due to link failures or topology variations. These changes c…
Stochastic gradient descent is a canonical tool for addressing stochastic optimization problems, and forms the bedrock of modern machine learning and statistics. In this work, we seek to balance the fact that attenuating step-sizes is required for exact asymptotic convergence with the fact that larg…
Graph neural networks (GNNs) model nonlinear representations in graph data with applications in distributed agent coordination, control, and planning among others. However, current GNN implementations assume ideal distributed scenarios and ignore link fluctuations that occur due to environment or hu…