Related papers: Robotic Message Ferrying for Wireless Networks usi…
We consider a dynamic vehicle routing problem in wireless networks where messages arriving randomly in time and space are collected by a mobile receiver (vehicle or a collector). The collector is responsible for receiving these messages via…
This letter introduces a novel wireless-powered backscatter communication system which allows sensors to utilize RF signals transmitted from a dedicated RF energy source to transmit data. In the proposed system, when the RF energy source…
We study the maximum weight matching problem in the random-order semi-streaming model and in the robust communication model. Unlike many other sublinear models, in these two frameworks, there is a large gap between the guarantees of the…
This dissertation is a study on the design and analysis of novel, optimal routing and rate control algorithms in wireless, mobile communication networks. Congestion control and routing algorithms upto now have been designed and optimized…
We consider a wireless sensor network whose main function is to detect certain infrequent alarm events, and to forward alarm packets to a base station, using geographical forwarding. The nodes know their locations, and they sleep-wake…
This paper studies a novel mobile relaying technique, where relays of high mobility are employed to assist the communications from source to destination. By exploiting the predictable channel variations introduced by relay mobility, we…
In leader-follower consensus, strong r-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agents. Previous studies have assumed that robots can form and/or…
We consider stability of scheduled multiaccess message communication with random coding and joint maximum-likehood decoding of messages. The framework we consider here models both the random message arrivals and the subsequent reliable…
We propose a decentralized stochastic control solution for the broadcast message dissemination problem in wireless ad hoc networks with slow fading channels. We formulate the control problem as a dynamic robust game which is well justified…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
It is by now well-known that wireless networks with file arrivals and departures are stable if one uses alpha-fair congestion control and back-pressure based scheduling and routing. In this paper, we examine whether ?alpha-fair congestion…
Achieving scalable coordination in large robotic swarms is often constrained by reliance on inter-agent communication, which introduces latency, bandwidth limitations, and vulnerability to failure. To address this gap, a decentralized…
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.…
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…
One of the challenges in the wireless sensor applications which are gaining much attention is the real-time transmission of continuous data packets across the network. Though advances in communication in sensor networks are providing…
In a multi-robot system, the appropriate allocation of the tasks to the individual robots is a very significant component. The availability of a centralized infrastructure can guarantee an optimal allocation of the tasks. However, in many…
Towards the development of 6G mobile networks, it is promising to integrate a large number of devices from multi-dimensional platforms, and it is crucial to have a solid understanding of the theoretical limits of large-scale networks. We…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Let a cluster (network) of sensors be connected by the communication links, each link having a capacity upper bound. Each sensor observes a discrete random variable in private and one sensor serves as a cluster header or sink. Here, we…