Related papers: Decentralized dynamic task allocation for UAVs wit…
Unmanned aerial vehicles (UAVs) have been recently utilized in multi-access edge computing (MEC) as edge servers. It is desirable to design UAVs' trajectories and user to UAV assignments to ensure satisfactory service to the users and…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
We present a new algorithm for deploying passenger robots in marsupial robot systems. A marsupial robot system consists of a carrier robot (e.g., a ground vehicle), which is highly capable and has a long mission duration, and at least one…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Limited computing resources of internet-of-things (IoT) nodes incur prohibitive latency in processing input data. This triggers new research opportunities toward task offloading systems where edge servers handle intensive computations of…
Effective operation and seamless cooperation of robotic systems are a fundamental component of next-generation technologies and applications. In contexts such as disaster response, swarm operations require coordinated behavior and mobility…
Harvesting data from distributed Internet of Things (IoT) devices with multiple autonomous unmanned aerial vehicles (UAVs) is a challenging problem requiring flexible path planning methods. We propose a multi-agent reinforcement learning…
This work presents an efficient and implementable solution to the problem of joint task allocation and path planning in a multi-UAV platform deployed for biometric data collection in-the-wild. The sensing requirement associated with the…
This paper focuses on the optimal coverage problem (OCP) for multi-agent systems with a decentralized optimization mechanism. A game based distributed decision-making method for the multi-agent OCP is proposed to address the high…
In this letter, a novel framework to deliver critical spread out URLLC services deploying unmanned aerial vehicles (UAVs) in an out-of-coverage area is developed. To this end, the resource optimization problem, i.e., resource blocks (RBs)…
Cooperative and cognitive non-orthogonal multiple access (CCR-NOMA) has been recognized as a promising technique to overcome issues of spectrum scarcity and support massive connectivity envisioned in next-generation wireless networks. In…
This paper studies the trajectory optimization problem in a scenario where a single rotary-wing UAV acts as a relay of data payloads for downlink transmission requests generated randomly by two ground nodes (GNs) in a wireless network. The…
The paper considers the problem of planning a set of non-conflict trajectories for the coalition of intelligent agents (mobile robots). Two divergent approaches, e.g. centralized and decentralized, are surveyed and analyzed. Decentralized…
In modern logistics management systems, route planning requires high efficiency. The Open Capacitated Vehicle Routing Problem (OCVRP) deals with finding optimal delivery routes for a fleet of vehicles serving geographically distributed…
We present a fully decentralized routing framework for multi-robot exploration missions operating under the constraints of a Lunar Delay-Tolerant Network (LDTN). In this setting, autonomous rovers must relay collected data to a lander under…
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
Mobile robotic platforms are an indispensable tool for various scientific and industrial applications. Robots are used to undertake missions whose execution is constrained by various factors, such as the allocated time or their remaining…
Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized…
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…