Related papers: Mobile Beamforming & Spatially Controlled Relay Co…
We consider the configuration formation problem in modular robotic systems where a set of singleton modules that are spatially distributed in an environment are required to assume appropriate positions so that they can configure into a new,…
Modular soft robot arms (MSRAs) are composed of multiple modules connected in a sequence, and they can bend at different angles in various directions. This capability allows MSRAs to perform more intricate tasks than single-module robots.…
The deployment of mobile robots for material handling in industrial environments requires scalable coordination of large fleets in dynamic settings. This paper presents a two-layer framework that combines high-level scheduling with…
In this paper, we study a secure integrated sensing and communication (ISAC) system where one multi-antenna base station (BS) simultaneously communicates with one single-antenna user and senses the location parameter of a target which…
In this paper, we consider a dual-hop Multiple Input Multiple Output (MIMO) wireless multi-relay network, in which a source-destination pair both equipped with multiple antennas communicates through multiple half-duplex amplify-and-forward…
This paper addresses a new semantic multi-robot planning problem in uncertain and dynamic environments. Particularly, the environment is occupied with non-cooperative, mobile, uncertain labeled targets. These targets are governed by…
In this paper, a relay-aided two-phase transmission protocol for the smart factory scenario is proposed. This protocol aims at enabling all robots' ultra-reliable target number of uplink critical data transmission within a latency…
Technological advancements in miniaturization and wireless communications are yielding more affordable and versatile sensors and, in turn, more applications in which a network of sensors can be actively managed to best support overall…
This paper studies the effectiveness of relaying for interference mitigation in an interference-limited communication scenario. We are motivated by the observation that in a cellular network, a relay node placed at the cell edge observes a…
Increasing data rate in wireless networks can be accomplished through a two-pronged approach, which are 1) increasing the network flow rate through parallel independent routes and 2) increasing the user's link rate through beamforming…
Sampling-based planning is the predominant paradigm for motion planning in robotics. Most sampling-based planners use a global random sampling scheme to guarantee probabilistic completeness. However, most schemes are often inefficient as…
Backscattering assisted wireless-powered communication combines ultralow-power backscatter transmitters with energy harvesting devices. This paper investigates the transmission mode selection problem of a hybrid relay that forwards data by…
A two-phase beamforming solution for secure communication using untrusted relay nodes is presented. To thwart eavesdropping attempts of relay nodes, we deliberately introduce artificial noise in the source message. After pointing out the…
We are motivated by the need for impromptu (or as-you-go) deployment of multihop wireless networks, by human agents or robots; the agent moves along a line, makes wireless link quality measurements at regular intervals, and makes on-line…
We consider the problem of allocating 5G radio resources over wireless communication links to control a series of independent low-latency wireless control systems common in industrial settings. Each control system sends state information to…
We consider a source-destination pair assisted by parallel regenerative decode-and-forward relays operating in orthogonal channels. We investigate distributed power allocation strategies for this system with limited channel state…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
Our work is motivated by geographical forwarding of sporadic alarm packets to a base station in a wireless sensor network (WSN), where the nodes are sleep-wake cycling periodically and asynchronously. When a node (referred to as the source)…
In this paper we are introducing a new reinforcement learning method for control problems in environments with delayed feedback. Specifically, our method employs stochastic planning, versus previous methods that used deterministic planning.…
Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…