Related papers: Deployment of mobile routers ensuring coverage and…
Resource sharing is a crucial part of a multi-robot system. We propose a Boolean satisfiability based approach to resource sharing. Our key contributions are an algorithm for converting any constrained assignment to a weighted-SAT based…
In this paper, we consider distributed optimization problems over a multi-agent network, where each agent can only partially evaluate the objective function, and it is allowed to exchange messages with its immediate neighbors. Differently…
Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…
We consider the problem of collectively delivering some message from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent has a limited energy which constrains the distance it can move.…
We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a reliable infrastructure for communication. The backbone for modern mapping techniques…
With the increasing demand and complexity of networks, factors such as balancing the load, improving the performance, reducing delay and finding optimal path between nodes in a computer network have become crucial. The traditional routing…
We study how long range directional beams can be used for self-organization of a wireless network to exhibit small world properties. Using simulation results for randomized beamforming as a guideline, we identify crucial design issues for…
We consider distributed optimization over orthogonal collision channels in spatial random access networks. Users are spatially distributed and each user is in the interference range of a few other users. Each user is allowed to transmit…
The nature of Mobile Ad hoc NETworks (MANETs) makes them suitable to be utilized in the context of an extreme emergency for all involved rescue teams. We use the term emergency MANETs (eMANETs) in order to describe next generation IP-based…
Interference among concurrent transmissions in a wireless network is a key factor limiting the system performance. One way to alleviate this problem is to manage the radio resources in order to maximize either the average or the worst-case…
Overheads incurred by routing protocols diminish the capacity available for relaying useful data in a mobile wireless ad hoc network. Discovering lower bounds on the amount of protocol overhead incurred for routing data packets is important…
In Mobile Ad-Hoc networks, broadcasting is a fundamental operation in the network layer. A node transmits a rebroadcast message to any or all other nodes whenever it receives for the first time. It will generate several redundant…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones…
In this paper, the distributed resource allocation optimization problem is investigated. The allocation decisions are made to minimize the sum of all the agents' local objective functions while satisfying both the global network resource…
We propose a localization algorithm for wireless sensor networks, which is simple in design, does not involve significant overhead and yet provides acceptable position estimates of sensor nodes. The algorithm uses settled nodes as beacon…
Motivated by an emerging framework of Autonomous Modular Vehicles, we consider the abstract problem of optimally routing two modules, i.e., vehicles that can attach to or detach from each other in motion on a graph. The modules' objective…
This paper is mainly devoted to the distributed second-order multi-agent optimization problem with unbalanced and directed networks. To deal with this problem, a new distributed algorithm is proposed based on the local neighbor information…
The interaction topology is critical for efficient cooperation of mobile robotic networks (MRNs). We focus on the local topology inference problem of MRNs under formation control, where an inference robot with limited observation range can…
Fixed infrastructured networks naturally support centralized approaches for group management and information provisioning. Contrary to infrastructured networks, in multi-hop ad-hoc networks each node acts as a router as well as sender and…