Related papers: Robotic Message Ferrying for Wireless Networks usi…
Designing safety-critical control for robotic manipulators is challenging, especially in a cluttered environment. First, the actual trajectory of a manipulator might deviate from the planned one due to the complex collision environments and…
We introduce a new problem which we call the Pony Express problem. n robots with differing speeds are situated over some domain. A message is placed at some commonly known point. Robots can acquire the message either by visiting its initial…
It has been shown that using appropriate channel coding schemes in wireless environments, transmission energy can be significantly reduced by controlling the packet transmission rate. This paper seeks optimal solutions for downlink…
Torque-driven microscale swimming robots, or microrotors, hold significant potential in biomedical applications such as targeted drug delivery, minimally invasive surgery, and micromanipulation. This paper addresses the challenge of…
Simulation-to-real is the task of training and developing machine learning models and deploying them in real settings with minimal additional training. This approach is becoming increasingly popular in fields such as robotics. However,…
Routing in Software-Defined Wireless sensor networks (SD-WSNs) can be either single or multi-hop, whereas the network is either static or dynamic. In static SD-WSN, the selection of the optimum route from source to destination is…
In this paper, the throughput of relay networks with multiple source-destination pairs under queueing constraints has been investigated for both variable-rate and fixed-rate schemes. When channel side information (CSI) is available at the…
We investigate the performance of First-In, First-Out (FIFO) queues over wireless networks. We characterize the stability region of a general scenario where an arbitrary number of FIFO queues, which are served by a wireless medium, are…
In modern data center networks, thousands of hosts contend for shared link capacity; the scale of these systems makes centralized scheduling impractical. This article models such scheduling as a bipartite matching problem under…
The coordination of robotic swarms and the remote wireless control of industrial systems are among the major use cases for 5G and beyond systems: in these cases, the massive amounts of sensory information that needs to be shared over the…
Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication…
Accurate and fast-convergent time synchronization is very important for wireless sensor networks. The flooding time synchronization converges fast, but its transmission delay and by-hop error accumulation seriously reduce the…
In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…
We initiate the study of a new problem on searching and fetching in a distributed environment concerning treasure-evacuation from a unit disk. A treasure and an exit are located at unknown positions on the perimeter of a disk and at known…
This paper describes a novel communication-spare cooperative localization algorithm for a team of mobile unmanned robotic vehicles. Exploiting an event-based estimation paradigm, robots only send measurements to neighbors when the expected…
This paper explores a multi-antenna dual-functional radio frequency (RF) wireless power transfer (WPT) and radar system to charge multiple unresponsive devices. We formulate a beamforming problem to maximize the minimum received power at…
In this paper, we address the problem of optimal relay placement in a cellular network assuming network densification, with the aim of maximizing cell capacity. In our model, a fraction of radio resources is dedicated to the base-station…
With the rapid progress in Multi-Agent Path Finding (MAPF), researchers have studied how MAPF algorithms can be deployed to coordinate hundreds of robots in large automated warehouses. While most works try to improve the throughput of such…
It was shown recently that CSMA (Carrier Sense Multiple Access)-like distributed algorithms can achieve the maximal throughput in wireless networks (and task processing networks) under certain assumptions. One important, but idealized…
Federated learning (FL) is a subfield of machine learning that avoids sharing local data with a central server, which can enhance privacy and scalability. The inability to consolidate data leads to a unique problem called dataset imbalance,…