Related papers: Towards Controllability of Wireless Network Qualit…
We study the optimal routing on multilayered communication networks, which are composed of two layers of subnetworks. One is a wireless network, and the other is a wired network. We develop a simple recurrent algorithm to find an optimal…
Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots…
We study link scheduling in wireless networks under stochastic arrival processes of packets, and give an algorithm that achieves stability in the physical (SINR) interference model. The efficiency of such an algorithm is the fraction of the…
In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks…
This paper considers secure communication in a multiuser multiple-input single-output (MISO) downlink system with simultaneous wireless information and power transfer. We study the design of resource allocation algorithms minimizing the…
An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
This thesis focuses on link scheduling in wireless mesh networks by taking into account physical layer characteristics. The assumption made throughout is that a packet is received successfully only if the Signal to Interference and Noise…
In this paper, a novel approach is proposed to improve the minimum signal-to-interference-plus-noise-ratio (SINR) among users in non-orthogonal multi-user wireless relay networks, by optimizing the placement of unmanned aerial vehicle (UAV)…
The paper present a novel approach for the solution of the Multi-Robot Communication-Aware Trajectory Planning, which builds on a general optimisation framework where the changes in robots positions are used as decision variable, and linear…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…
In this paper, we demonstrate a formulation for optimizing coupled submodular maximization problems with provable sub-optimality bounds. In robotics applications, it is quite common that optimization problems are coupled with one another…
Optimal control of a mobile robot system is formulated. Multiobjective criteria of time and energy is employed. The optimal control problem is formulated as a nonlinear programming problem (NLP). The problem is solved using the direct…
Submodular maximization has been widely used in many multi-robot task planning problems including information gathering, exploration, and target tracking. However, the interplay between submodular maximization and communication is rarely…
In this paper we introduce the notion of optimization under control and communication constraint in a robotic network. Starting from a general setup, we focus our attention on the problem of achieving rendezvous in minimum time for a…
This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…
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…
In multiple-input single-output (MISO) wireless power transfer (WPT) via magnetic resonant coupling (MRC), multiple transmitters are deployed to enhance the efficiency of power transfer to the electric load at a single receiver by jointly…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
The problem of joint design of transmit waveforms and receive filters is desirable in many application scenarios of multiple-input multiple-output (MIMO) radar systems. In this paper, the joint design problem is investigated under the…