Related papers: Route Swarm: Wireless Network Optimization through…
Significant research has been carried out in the recent years for generating systems exhibiting intelligence for realizing optimized routing in networks. In this paper, a grade based twolevel based node selection method along with Particle…
This work presents a novel data-driven path planning algorithm named Instruction-Guided Probabilistic Roadmap (IG-PRM). Despite the recent development and widespread use of mobile robot navigation, the safe and effective travels of mobile…
Robotics research has been focusing on cooperative multi-agent problems, where agents must work together and communicate to achieve a shared objective. To tackle this challenge, we explore imitation learning algorithms. These methods learn…
Information theory is a powerful tool to express principles to drive autonomous systems because it is domain invariant and allows for an intuitive interpretation. This paper studies the use of the predictive information (PI), also called…
This paper addresses multi-robot informative path planning (IPP) for environmental monitoring. The problem involves determining informative regions in the environment that should be visited by robots to gather the most information about the…
Routing protocols help in transmitting the sensed data from UAVs monitoring the targets (called target UAVs) to the BS. However, the highly dynamic nature of an autonomous, decentralized UAV network leads to frequent route breaks or traffic…
Optimal maintenance of sensor nodes in a Wireless Rechargeable Sensor Network (WRSN) requires effective scheduling of power delivery vehicles by solving the Charging Scheduling Problem (CSP). Deploying Unmanned Aerial Vehicles (UAVs) as…
We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot…
Emerging 5G and beyond wireless industrial virtualized networks are expected to support a significant number of robotic manipulators. Depending on the processes involved, these industrial robots might result in significant volume of…
A networked aerial robot team (NART) comprises a group of agents (e.g., unmanned aerial vehicles (UAVs), ground control stations, etc.) interconnected by wireless links. Inter-agent connectivity, even if intermittent (i.e. sparse), enables…
Robot swarms offer significant potential for inspecting diverse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources…
In this paper, we solve a multi-robot informative path planning (MIPP) task under the influence of uncertain communication and adversarial attackers. The goal is to create a multi-robot system that can learn and unify its knowledge of an…
Integrated sensing, computation, and communication (ISCC) has been recently considered as a promising technique for beyond 5G systems. In ISCC systems, the competition for communication and computation resources between sensing tasks for…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
We present a system to coordinate 'urban mobility swarms' in order to promote the use and safety of lightweight, sustainable transit, while enhancing the vibrancy and community fabric of cities. This work draws from behavior exhibited by…
Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…
Internal routing inside an ISP network is the foundation for lots of services that generate revenue from the ISP's customers. A fine-grained control of paths taken by network traffic once it enters the ISP's network is therefore a crucial…
This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…