Related papers: Robotic Message Ferrying for Wireless Networks usi…
Effective congestion control for data center networks is becoming increasingly challenging with a growing amount of latency sensitive traffic, much fatter links, and extremely bursty traffic. Widely deployed algorithms, such as DCTCP and…
This paper considers networked sensing in cellular network, where multiple base stations (BSs) first compress their received echo signals from multiple targets and then forward the quantized signals to the central unit (CU) via…
Carrier Sense Multiple Access (CSMA) protocols have been shown to reach the full capacity region for data communication in wireless networks, with polynomial complexity. However, current literature achieves the throughput optimality with an…
In this paper we develop a method to coordinate the deployment of a multi-robot team to reach some locations of interest, so-called primary goals, and to transmit the information from these positions to a static Base Station (BS), under…
We address the problem of maintaining resource availability in a networked multi-robot system performing distributed target tracking. In our model, robots are equipped with sensing and computational resources enabling them to track a…
Content delivery networks often employ caching to reduce transmission rates from the central server to the end users. Recently, the technique of coded caching was introduced whereby coding in the caches and coded transmission signals from…
This paper presents an approach for navigation and control in unmapped environments under input and state constraints using a composite control barrier function (CBF). We consider the scenario where real-time perception feedback (e.g.,…
This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…
We consider the problem of distributed binary hypothesis testing in a parallel network topology where sensors independently observe some phenomenon and send a finite rate summary of their observations to a fusion center for the final…
This paper considers the problem of cooperative localization (CL) using inter-robot measurements for a group of networked robots with limited on-board resources. We propose a novel recursive algorithm in which each robot localizes itself in…
This paper presents a safety-critical approach to the coordination of robots in dynamic environments. To this end, we leverage control barrier functions (CBFs) with the forward reachable set to guarantee the safe coordination of the robots…
Robot motion distributions often exhibit multi-modality and require flexible generative models for accurate representation. Streaming Flow Policies (SFPs) have recently emerged as a powerful paradigm for generating robot trajectories by…
We analyze the performance of an interference-limited, decode-and-forward, cooperative relaying system that comprises a source, a destination, and $N$ relays, placed arbitrarily on the plane and suffering from interference by a set of…
We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…
We give algorithms with constant-factor performance guarantees for several capacity and throughput problems in the SINR model. The algorithms are all based on a novel LP formulation for capacity problems. First, we give a new…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
We examine deterministic broadcasting on multiple-access channels for a scenario when packets are injected continuously by an adversary to the buffers of the devices at rate $\rho$ packages per round. The aim is to maintain system…
In time-critical wireless sensor network (WSN) applications, a high degree of reliability is commonly required. A dynamical jumping real-time fault-tolerant routing protocol (DMRF) is proposed in this paper. Each node utilizes the remaining…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
We are motivated by quantile estimation of algae concentration in lakes and how decentralized multirobot teams can effectively tackle this problem. We find that multirobot teams improve performance in this task over single robots, and…