Related papers: Push & Pull: autonomous deployment of mobile senso…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
The use of Unmanned Aerial Vehicles (UAVs) is rapidly increasing in applications ranging from surveillance and first-aid missions to industrial automation involving cooperation with other machines or humans. To maximize area coverage and…
This paper presents a distributed gradient-based deployment strategy to maximize coverage in hybrid wireless sensor networks (WSNs) with probabilistic sensing. Leveraging Voronoi partitioning, the overall coverage is reformulated as a sum…
With the advances in sensors and computer networks an increased number of Mixed Reality (MR) applications require large amounts of information from the real world. Such information is collected through sensors (e.g. position and orientation…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
This article proposes a collaborative control framework for an autonomous aerial swarm tasked with the surveillance of a convex region of interest. Each Mobile Aerial Agent (MAA) is equipped with a Pan-Tilt-Zoom (PTZ) camera of conical FOV…
This paper is concerned with the deployment of multiple mobile robots in order to autonomously cover a region Q. The region to be covered is described using a density function which may not be apriori known. In this paper, we pose the…
This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…
In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength…
Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…
The fundamental problem of energy-efficient reallocation of mobile random sensors to provide full coverage without interference is addressed in this paper. We consider $n$ mobile sensors with identical sensing range placed randomly on the…
In this paper, we present a novel distributed expectation propagation algorithm for multiple sensors, multiple objects tracking in cluttered environments. The proposed framework enables each sensor to operate locally while collaboratively…
Routing algorithms for wireless sensor networks can be broadly divided into two classes - proactive and reactive. Proactive routing is suitable for a network with a fixed topology. On the other hand, reactive routing is more suitable for a…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
We introduce a modified model of random walk, and then develop two novel clustering algorithms based on it. In the algorithms, each data point in a dataset is considered as a particle which can move at random in space according to the…
This paper addresses the sweep coverage problem of multi-agent systems in uncertain regions. A new formulation of distributed sweep coverage is proposed to cooperatively complete the workload in the uncertain region. Specifically, each…
Shared e-mobility services have been widely tested and piloted in cities across the globe, and already woven into the fabric of modern urban planning. This paper studies a practical yet important problem in those systems: how to deploy and…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
We propose a mobile crowdsourced sensors selection approach to improve the journey planning service especially in areas where no wireless or vehicular sensors are available. We develop a location estimation model of journey services based…