Related papers: SuMo-SS: Submodular Optimization Sensor Scattering…
Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of…
Simulated annealing (SA) method has had significant recent success in designing distributed control algorithms for wireless networks. These SA based techniques formed the basis of new CSMA algorithms and gave rise to the development of…
We propose a method to optimally position a sensor system, which consists of multiple sensors, each has limited range and viewing angle, and they may fail with a certain failure rate. The goal is to find the optimal locations as well as the…
Inspection of infrastructure using static sensor nodes has become a well established approach in recent decades. In this work, we present an experimental setup to address a binary inspection task using mobile sensor nodes. The objective is…
This paper presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to…
We consider the problem of multiple agents or robots searching for a target in the plane. This is motivated by Search and Rescue operations (SAR) in the high seas which in the past were often performed with several vessels, and more…
Sensor nodes are low cost, low power devices that are used to collect physical data and monitor environmental conditions from remote locations. Wireless Sensor Networks(WSN) are collection of sensor nodes, coordinating among themselves to…
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…
Shared e-mobility services have been widely tested and piloted in cities across the globe, and already woven into the fabric of modern urban planning. This paper studies a practical yet important problem in those systems: how to deploy and…
Although the Industrial Internet of Things has increased the number of sensors permanently installed in industrial plants, there will be gaps in coverage due to broken sensors or sparse density in very large plants, such as in the…
The pandemic by COVID-19 is causing a devastating effect on the health of global population. There are several efforts to prevent the spread of the virus. Among those efforts, cleaning and disinfecting public areas have become important…
We introduce the novel concept of Spatial Predictive Control (SPC) to solve the following problem: given a collection of agents (e.g., drones) with positional low-level controllers (LLCs) and a mission-specific distributed cost function,…
With the increasing rate of power consumption, many new distribution systems need to be constructed to accommodate connecting the new consumers to the power grid. On the other hand, the increasing penetration of renewable distributed…
Platoons of autonomous vehicles are being investigated as a way to increase road capacity and fuel efficiency. Cooperative Adaptive Cruise Control (CACC) is an approach to achieve such platoons, in which vehicles collaborate using wireless…
Distributed learning and inference algorithms have become indispensable for IoT systems, offering benefits such as workload alleviation, data privacy preservation, and reduced latency. This paper introduces an innovative approach that…
This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…
Indoor positioning applications are craving for ever higher precision and accuracy across the entire coverage zone. Optimal anchor placement and the deployment of multiple distributed anchor nodes could have a major impact in this regard.…
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…
Wireless Sensor Networks (WSNs) is an emerging technology in several application domains, ranging from urban surveillance to environmental and structural monitoring. Computational Intelligence (CI) techniques are particularly suitable for…
Signal source seeking using autonomous vehicles is a complex problem. The complexity increases manifold when signal intensities captured by physical sensors onboard are noisy and unreliable. Added to the fact that signal strength decays…