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Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle…
Standard congestion control cannot detect link failure losses which occur due to mobility and power scarcity in multi-hop Ad-Hoc network (MANET). Moreover, successive executions of Back-off algorithm deficiently grow Retransmission Timeout…
Branch and bound algorithms have been developed for reliability analysis of coherent systems. They exhibit a set of advantages; in particular, they can find a computationally efficient representation of a system failure or survival event,…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
Swarms of collaborating Unmanned Aerial Vehicles (UAVs) that utilize ad-hoc networking technologies for coordinating their actions offer the potential to catalyze emerging research fields such as autonomous exploration of disaster areas,…
Unlike traditional routing procedures that, at the best, single out a unique route, multi-path routing protocols discover proactively several alternative routes. It has been recognized that multi-path routing can be more efficient than…
Control barrier functions (CBF) are widely explored to enforce the safety-critical constraints on nonlinear systems recently. There are many researchers incorporating the control barrier functions into path planning algorithms to find a…
The research introduces a multi-agent simulation that uses fuzzy inference to investigate the work distribution and battery charging control of mobile baggage conveyor robots in an airport in a comprehensive manner. Thanks to a distributed…
Rapidly-exploring Random Tree (RRT) algorithms have been applied successfully to challenging robot motion planning and under-actuated nonlinear control problems. However a fundamental limitation of the RRT approach is the slow convergence…
Barrage relays networks (BRNs) are ad hoc networks built on a rapid cooperative flooding primitive as opposed to the traditional point-to-point link abstraction. Controlled barrage regions (CBRs) can be used to contain this flooding…
In recent years, the use of non-analytical methods of computing such as fuzzy logic, evolutionary computation, and neural networks has demonstrated the utility and potential of these paradigms for intelligent control of mobile robot…
The key innovation of our analytical method, CaRT, lies in establishing a new hierarchical, distributed architecture to guarantee the safety and robustness of a given learning-based motion planning policy. First, in a nominal setting, the…
Path planners based on basic rapidly-exploring random trees (RRTs) are quick and efficient, and thus favourable for real-time robot path planning, but are almost-surely suboptimal. In contrast, the optimal RRT (RRT*) converges to the…
The demand for seamless Internet access under extreme user mobility, such as on high-speed trains and vehicles, has become a norm rather than an exception. However, the 4G/5G mobile network is not always reliable to meet this demand, with…
In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…
Unlike classical routing algorithms, quantum routing algorithms make use of entangled states - a type of resources that have a limited lifetime and need to be regenerated after consumption. In a nutshell, quantum routing algorithms have to…
Cognitive radios hold tremendous promise for increasing the spectral efficiency of wireless communication systems. In this paper, an adaptive bit allocation algorithm is presented for orthogonal frequency division multiplexing (OFDM) CR…
The technique of cooperative communication has recently gained momentum in the research community; this technique utilizes the notion of relay, as an intermediate node between the source and the destination, to enhance the overall system…
We consider an online network routing problem in continuous time, where calls have Poisson arrivals and exponential durations. The first-fit dynamic alternative routing algorithm sequentially selects up to $d$ random two-link routes between…
Relay networks having $n$ source-to-destination pairs and $m$ half-duplex relays, all operating in the same frequency band in the presence of block fading, are analyzed. This setup has attracted significant attention and several relaying…