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The problem of finding the shortest path for a vehicle visiting a given sequence of target points subject to the motion constraints of the vehicle is an important problem that arises in several monitoring and surveillance applications…
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when…
This paper proposes novel pilot optimization and channel estimation algorithm for the downlink multiuser massive multiple input multiple output (MIMO) system with $K$ decentralized single antenna mobile stations (MSs), and time division…
The Bin Packing Problem is one of the most important optimization problems. In recent years, due to its NP-hard nature, several approximation algorithms have been presented. It is proved that the best algorithm for the Bin Packing Problem…
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…
Motion planning under uncertainty is essential for reliable robot operation. Despite substantial advances over the past decade, the problem remains difficult for systems with complex dynamics. Most state-of-the-art methods perform search…
In this work, we carry out structural and algorithmic studies of a problem of barrier forming: selecting theminimum number of straight line segments (barriers) that separate several sets of mutually disjoint objects in the plane. The…
In this paper, a novel low-complexity detection algorithm for spatial modulation (SM), referred to as the minimum-distance of maximum-length (m-M) algorithm, is proposed and analyzed. The proposed m-M algorithm is a smart searching method…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
We propose a numerical algorithm for the computation of multi-marginal optimal transport (MMOT) problems involving general probability measures that are not necessarily discrete. By developing a relaxation scheme in which marginal…
Connected Submodular Maximization (CSM) is a graph problem with important applications to wireless network deployment, path planning, epidemic outbreaks, and cancer genome studies. In CSM, we are given a graph $G$, a non-negative monotone…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
Usage of mobile sink(s) for data gathering in wireless sensor networks(WSNs) improves the performance of WSNs in many respects such as power consumption, lifetime, etc. In some applications, the mobile sink $MS$ travels along a predefined…
In Wireless Sensor Networks, sensors are used for tracking objects, monitoring health and observing a region/territory for different environmental parameters. Coverage problem in sensor network ensures quality of monitoring a given region.…
This paper considers an optimization problem for a dynamical system whose evolution depends on a collection of binary decision variables. We develop scalable approximation algorithms with provable suboptimality bounds to provide…
In many applications, including underwater robotics, the coverage problem requires an autonomous vehicle to systematically explore a defined area while minimizing redundancy and avoiding obstacles. This paper investigates coverage path…
Since the Bin Packing Problem (BPP) is one of the main NP-hard problems, a lot of approximation algorithms have been suggested for it. It has been proven that the best algorithm for BPP has the approximation ratio of 3/2 and the time order…
In this paper, we first remodel the line coverage as a 1D discrete problem with co-linear targets. Then, an order-based greedy algorithm, called OGA, is proposed to solve the problem optimally. It will be shown that the existing order in…
Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the…
For the large-scale monitoring of a physical phenomena using a wireless sensor network (WSN), a large number of static and/or mobile sensor nodes are required, resulting in higher deployment cost. In this work, we develop an efficient…