Related papers: Non-linear Barrier Coverage using Mobile Wireless …
Barriers in cities, such as administrative boundaries, natural obstacles, railways or major roads are thought to induce segregation. However, the empirical knowledge about this phenomenon is limited. Here, we present a network science…
The application of Compresses Sensing is a promising physical layer technology for the joint activity and data detection of signals. Detecting the activity pattern correctly has severe impact on the system performance and is therefore of…
Control barrier functions are widely used to enforce safety properties in robot motion planning and control. However, the problem of constructing barrier functions online and synthesizing safe controllers that can deal with the associated…
In this paper we use the MAP criterion to locate a region containing a source. Sensors placed in a field of interest divide the latter into smaller regions and take measurements that are transmitted over noisy wireless channels. We propose…
We present a novel technique for online safety verification of autonomous systems, which performs reachability analysis efficiently for both bounded and unbounded horizons by employing neural barrier certificates. Our approach uses barrier…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
In this paper, we present the first constant-approximation algorithm for {\em budgeted sweep coverage problem} (BSC). The BSC involves designing routes for a number of mobile sensors (a.k.a. robots) to periodically collect information as…
We study a mobile wireless sensor network (MWSN) consisting of multiple mobile sensors or robots. Three key factors in MWSNs, sensing quality, energy consumption, and connectivity, have attracted plenty of attention, but the interaction of…
Cross-correlator plays a significant role in many visual perception tasks, such as object detection and tracking. Beyond the linear cross-correlator, this paper proposes a kernel cross-correlator (KCC) that breaks traditional limitations.…
Robot motion planning is central to real-world autonomous applications, such as self-driving cars, persistence surveillance, and robotic arm manipulation. One challenge in motion planning is generating control signals for nonlinear systems…
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…
The technique of kernelization consists in extracting, from an instance of a problem, an essentially equivalent instance whose size is bounded in a parameter k. Besides being the basis for efficient param-eterized algorithms, this method…
We consider large-scale wireless sensor networks with $n$ nodes, out of which k are in possession, (e.g., have sensed or collected in some other way) k information packets. In the scenarios in which network nodes are vulnerable because of,…
Localization is one of the most important factor in wireless sensor networks as many applications demand position information of sensors. Recently there is an increasing interest on the use of mobile anchors for localizing sensors. Most of…
This paper tackles the problem of safe and efficient area coverage using a multi-agent system operating in environments with obstacles. Applications such as environmental monitoring and search and rescue require robot swarms to cover large…
In this paper, an efficient deployment strategy is proposed for a network of mobile and static sensors with nonidentical sensing and communication radii. The multiplicatively weighted Voronoi (MW-Voronoi) diagram is used to partition the…
Although monitoring and covering are fundamental goals of a wireless sensor network (WSN), the accidental death of sensors or the running out of their energy would result in holes in the WSN. Such holes have the potential to disrupt the…
We propose new methods to synthesize control barrier function (CBF)-based safe controllers that avoid input saturation, which can cause safety violations. In particular, our method is created for high-dimensional, general nonlinear systems,…
A large number of cameras embedded on smart-phones, drones or inside cars have a direct access to external motion sensing from gyroscopes and accelerometers. On these power-limited devices, video compression must be of low-complexity. For…
Existing approaches remain largely constrained by traditional distance metrics, limiting their effectiveness in handling random data. In this work, we introduce the first k-means variant in the literature that operates within a…