Related papers: Push & Pull: autonomous deployment of mobile senso…
Wireless Sensor Network (WSN) is pertinent to many applications with varied network parameters. Sensor node placement in the application region whether it is indoor or outdoor is a major task as well as plays very remarkable role in the…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
We present a fully integrated autonomous multi- robot aerial system for finding and collecting moving and static objects with unknown locations. This task addresses multiple relevant problems in search and rescue (SAR) robotics such as…
Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of…
Grasping objects whose physical properties are unknown is still a great challenge in robotics. Most solutions rely entirely on visual data to plan the best grasping strategy. However, to match human abilities and be able to reliably pick…
We address the synthesis of distributed control policies to enable a swarm of homogeneous mobile sensors to maintain a desired spatial distribution in a geophysical flow environment, or workspace. In this article, we assume the mobile…
In this paper we propose and analyze a distributed algorithm for achieving globally optimal decisions, either estimation or detection, through a self-synchronization mechanism among linearly coupled integrators initialized with local…
This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…
This paper addresses the challenges of optimally placing a finite number of sensors to detect Poisson-distributed targets in a bounded domain. We seek to rigorously account for uncertainty in the target arrival model throughout the problem.…
We propose efficient distributed algorithms to aid navigation of a user through a geographic area covered by sensors. The sensors sense the level of danger at their locations and we use this information to find a safe path for the user…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
In this paper, given a random uniform distribution of sensor nodes on a 2-D plane, a fast self-organized distributed algorithm is proposed to find the maximum number of partitions of the nodes such that each partition is connected and…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
Wireless Sensor Networks (WSNs) are composed of nodes that gather metrics like temperature, pollution or pressure from events generated by external entities. Localization in WSNs is paramount, given that the collected metrics must be…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
We study a heterogeneous wireless sensor network (WSN) where N heterogeneous access points (APs) gather data from densely deployed sensors and transmit their sensed information to M heterogeneous fusion centers (FCs) via multi-hop wireless…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is…