Game theoretic controller synthesis for multi-robot motion planning Part I : Trajectory based algorithms

We consider a class of multi-robot motion planning problems where each robot is associated with multiple objectives and decoupled task specifications. The problems are formulated as an open-loop non-cooperative differential game. A distributed anytime algorithm is proposed to compute a Nash equilibrium of the game. The following properties are proven: (i) the algorithm asymptotically converges to the set of Nash equilibrium; (ii) for scalar cost functionals, the price of stability equals one; (iii) for the worst case, the computational complexity and communication cost are linear in the robot number

Game-theoretic Resource Allocation Methods for Device-to-Device (D2D) Communication

Device-to-device (D2D) communication underlaying cellular networks allows mobile devices such as smartphones and tablets to use the licensed spectrum allocated to cellular services for direct peer-to-peer transmission. D2D communication can use either one-hop transmission (i.e., in D2D direct communication) or multi-hop cluster-based transmission (i.e., in D2D local area networks). The D2D devices can compete or cooperate with each other to reuse the radio resources in D2D networks. Therefore, resource allocation and access for D2D communication can be treated as games. The theories behind these games provide a variety of mathematical tools to effectively model and analyze the individual or group behaviors of D2D users. In addition, game models can provide distributed solutions to the resource allocation problems for D2D communication. The aim of this article is to demonstrate the applications of game-theoretic models to study the radio resource allocation issues in D2D communication. The article also outlines several key open research directions.Comment: Accepted. IEEE Wireless Comms Mag. 201

On the genericity properties in networked estimation: Topology design and sensor placement

In this paper, we consider networked estimation of linear, discrete-time dynamical systems monitored by a network of agents. In order to minimize the power requirement at the (possibly, battery-operated) agents, we require that the agents can exchange information with their neighbors only \emph{once per dynamical system time-step}; in contrast to consensus-based estimation where the agents exchange information until they reach a consensus. It can be verified that with this restriction on information exchange, measurement fusion alone results in an unbounded estimation error at every such agent that does not have an observable set of measurements in its neighborhood. To over come this challenge, state-estimate fusion has been proposed to recover the system observability. However, we show that adding state-estimate fusion may not recover observability when the system matrix is structured-rank ($S$-rank) deficient. In this context, we characterize the state-estimate fusion and measurement fusion under both full $S$-rank and $S$-rank deficient system matrices.Comment: submitted for IEEE journal publicatio