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Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
Network virtualization allows one to build dynamic distributed systems in which resources can be dynamically allocated at locations where they are most useful. In order to fully exploit the benefits of this new technology, protocols need to…
Networked control systems (NCS) have attracted considerable attention in recent years. While the stabilizability and optimal control of NCS for a given communication system has already been studied extensively, the design of the…
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes costs in terms of restricted robot mobility, resulting in…
In this report, we study the packet delay as a QoS metric in CR systems. The packet delay includes the queue waiting time and the service time. In this work, we study the effect of both the scheduling and the power allocation algorithms on…
With the growing popularity of mobile smart devices, the existing networks are unable to meet the requirement of many complex scenarios; current network architectures and protocols do not work well with the network with high latency and…
To support reliable and low-latency communication, Time-Sensitive Networking introduced protocols and interfaces for resource allocation in Ethernet. However, the implementation of these allocation algorithms has not yet been covered by the…
In many Cyber-Physical Systems, we encounter the problem of remote state estimation of geographically distributed and remote physical processes. This paper studies the scheduling of sensor transmissions to estimate the states of multiple…
This paper focuses on the design of provably efficient online link scheduling algorithms for multi-hop wireless networks. We consider single-hop traffic and the one-hop interference model. The objective is twofold: 1) maximizing the…
Vehicular Sensor Network (VSN) is emerging as a new solution for monitoring urban environments such as Intelligent Transportation Systems and air pollution. One of the crucial factors that determine the service quality of urban monitoring…
In this work, we investigate the optimal dynamic packet scheduling policy in a wireless relay network (WRN). We model this network by two sets of parallel queues, that represent the subscriber stations (SS) and the relay stations (RS), with…
With the recent development of technology, wireless sensor networks (WSN) are becoming an important part of many applications. Knowing the exact location of each sensor in the network is very important issue. Therefore, the localization…
We analyze the delay performance of small cell networks operating under random scheduling (RS) and round robin (RR) protocols. Based on stochastic geometry and queuing theory, we derive accurate and tractable expressions for the…
Optimizing network throughput in real-world dynamic systems is critical, especially for diverse and delay-sensitive multimedia data types such as VoIP and video streaming. Traditional routing protocols, which rely on static metrics and…
Quantum entanglement distribution between remote nodes is key to many promising quantum applications. Existing mechanisms have mainly focused on improving throughput and fidelity via entanglement routing or single-node scheduling. This…
We demonstrate the presence of a novel scheduler side-channel in preemptive, fixed-priority real-time systems (RTS); examples of such systems can be found in automotive systems, avionic systems, power plants and industrial control systems…
Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…
A new method for estimating the relative positions of location-unaware nodes from the location-aware nodes and the received signal strength (RSS) between the nodes, in a wireless sensor network (WSN), is proposed. In the method, a…
We study the problem of wireless sensor network design by deploying a minimum number of additional relay nodes (to minimize network cost) at a subset of given potential relay locations, in order to convey the data from already existing…
This paper proposes a Traffic-Differentiated Two-Hop Routing protocol for Quality of Service (QoS) in Wireless Sensor Networks (WSNs). It targets WSN applications having different types of data traffic with several priorities. The protocol…