Related papers: Push & Pull: autonomous deployment of mobile senso…
Mobile robots are increasingly deployed in cluttered environments with movable objects, posing challenges for traditional methods that prohibit interaction. In such settings, the mobile robot must go beyond traditional obstacle avoidance,…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
In this paper, we focus on solving a distributed convex optimization problem in a network, where each agent has its own convex cost function and the goal is to minimize the sum of the agents' cost functions while obeying the network…
Distributed consensus has been widely studied for sensor network applications. Whereas the asymptotic convergence rate has been extensively explored in prior work, other important and practical issues, including energy efficiency and link…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
We present a new algorithm for deploying passenger robots in marsupial robot systems. A marsupial robot system consists of a carrier robot (e.g., a ground vehicle), which is highly capable and has a long mission duration, and at least one…
Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…
We propose a novel search-and-rescue management method that relies on the aerial deployment of Wireless Sensor Network (WSN) for locating victims after floods. The sensor nodes will collect vital information such as heat signatures for…
Nowadays, with the widespread of smartphones and other portable gadgets equipped with a variety of sensors, data is ubiquitous available and the focus of machine learning has shifted from being able to infer from small training samples to…
Cooperation between mobile robots and wireless sensor networks is a line of research that is currently attracting a lot of attention. In this context, we study the following problem of barrier coverage by stationary wireless sensors that…
A k-order coverage control problem is studied where a network of agents must deploy over a desired area. The objective is to deploy all the agents in a decentralized manner such that a certain coverage performance metric of the network is…
In this paper, the efficient deployment of multiple unmanned aerial vehicles (UAVs) with directional antennas acting as wireless base stations that provide coverage for ground users is analyzed. First, the downlink coverage probability for…
Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…
Positioning systems in self-organizing networks generally rely on measurements such as delay and received signal strength, which may be difficult to obtain and often require dedicated equipment. An alternative to such approaches is to use…
Radio maps find numerous applications in wireless communications and mobile robotics tasks, including resource allocation, interference coordination, and mission planning. Although numerous techniques have been proposed to construct radio…
Simultaneous localization and mapping (SLAM) during communication is emerging. This technology promises to provide information on propagation environments and transceivers' location, thus creating several new services and applications for…
The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…
Given a line barrier and a set of mobile sensors distributed in the plane, the Minimizing Maximum Sensor Movement problem (MMSM) for \textcolor{black}{line barrier coverage} is to compute relocation positions for the sensors in the plane…