Related papers: Route Swarm: Wireless Network Optimization through…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
We propose a shared semantic map architecture to construct and configure Model Predictive Controllers (MPC) dynamically, that solve navigation problems for multiple robotic agents sharing parts of the same environment. The navigation task…
This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…
In this work, we present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with global localization capabilities and limited inter-robot communication. The robots explore the…
Networked robotic systems, such as connected vehicle platoons, can improve the safety and efficiency of transportation networks by allowing for high-speed coordination. To enable such coordination, these systems rely on networked…
In this work, we develop a distributed source routing algorithm for topology discovery suitable for ISP transport networks, that is however inspired by opportunistic algorithms used in ad hoc wireless networks. We propose a plug-and-play…
Trajectory planning in robotics aims to generate collision-free pose sequences that can be reliably executed. Recently, vision-to-planning systems have gained increasing attention for their efficiency and ability to interpret and adapt to…
In classical Informative Path Planning (C-IPP), robots are typically modeled as mobile sensors that acquire digital measurements such as images or radiation levels. In this model - since making a measurement leaves the robot's physical…
We consider a fundamental problem concerning the deployment of a wireless robotic network: to fulfill various end-to-end performance requirements, a "sufficient" number of robotic relays must be deployed to ensure that links are of…
With the rapid development of artificial intelligence, robotics, and Internet of Things, multi-robot systems are progressively acquiring human-like environmental perception and understanding capabilities, empowering them to complete complex…
While magnetic micro-robots have demonstrated significant potential across various applications, including drug delivery and microsurgery, the open issue of precise navigation and control in complex fluid environments is crucial for in vivo…
Computation load-sharing across a network of heterogeneous robots is a promising approach to increase robots capabilities and efficiency as a team in extreme environments. However, in such environments, communication links may be…
This correspondence paper studies a network integrated sensing and communication (ISAC) system that unifies the interference channel for communication and distributed radar sensing. In this system, a set of distributed ISAC transmitters…
In this article, we propose an optimization-based integrated behavior planning and motion control scheme, which is an interpretable and adaptable urban autonomous driving solution that complies with complex traffic rules while ensuring…
We present a novel method for guiding a large-scale swarm of autonomous agents into a desired formation shape in a distributed and scalable manner. Our Probabilistic Swarm Guidance using Inhomogeneous Markov Chains (PSG-IMC) algorithm…
This research presents a multi-robot system for inpatient care, designed using swarm intelligence principles and incorporating wearable health sensors, RF-based communication, and AI-driven decision support. Within a simulated hospital…
Sink mobility is seen as a successful strategy to resolve the hotspot problem in Wireless Sensor Network (WSN). Mobile sinks roam in the network and collect data from special nodes such as Cluster Heads (CH) by means of short-range…
The reconfigurable intelligent surface is a promising technology for the manipulation and control of wireless electromagnetic signals. In particular, it has the potential to provide significant performance improvements for wireless…
Unmanned Aerial Vehicles (UAVs) are a rapidly emerging technology offering fast and cost-effective solutions for many areas, including public safety, surveillance, and wireless networks. However, due to the highly dynamic network topology…
Robotic systems must be able to quickly and robustly make decisions when operating in uncertain and dynamic environments. While Reinforcement Learning (RL) can be used to compute optimal policies with little prior knowledge about the…