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The Rayleigh conjecture about convergence up to the boundary of the series representing the scattered field in the exterior of an obstacle $D$ is widely used by engineers in applications. However this conjecture is false for some obstacles.…
Non-monotone object rearrangement planning in confined spaces such as cabinets and shelves is a widely occurring but challenging problem in robotics. Both the robot motion and the available regions for object relocation are highly…
Reconfigurable intelligent surface (RIS) is a promising technology to enhance the spectral and energy efficiency in a wireless communication system. The design of the phase shifts of an RIS in every channel coherence interval demands a huge…
Indexed modulation (IM) is an evolving technique that has become popular due to its ability of parallel data communication over distinct combinations of transmission entities. In this article, we first provide a comprehensive survey of…
Efficient motion planning for high-dimensional robotic systems, such as manipulators and mobile manipulators, is critical for real-time operation and reliable deployment. Although advances in planning algorithms have enhanced scalability to…
A map merging component is crucial for the proper functionality of a multi-robot system performing exploration, since it provides the means to integrate and distribute the most important information carried by the agents: the…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
This paper proposes an adaptive stochastic Model Predictive Control (MPC) strategy for stable linear time invariant systems in the presence of bounded disturbances. We consider multi-input multi-output systems that can be expressed by a…
Reconfigurable intelligent surface (RIS)-aided networks have been investigated for the purpose of improving the system performance. However, the introduced unit modulus phase shifts and coupling characteristic bring enormous challenges to…
We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…
Reconfigurable intelligent surface (RIS) is a promising reflective radio technology for improving the coverage and rate of future wireless systems by reconfiguring the wireless propagation environment. The current work mainly focuses on the…
Cooperative rate splitting (CRS), built upon rate splitting multiple access (RSMA) and opportunistic user relaying, has been recognized as a promising transmission strategy to enhance the user fairness and spectral efficiency in…
Reconfigurable Intelligent Surfaces (RIS) have emerged as a key solution to dynamically adjust wireless propagation by tuning the reflection coefficients of large arrays of passive elements. Reconfigurable Holographic Surfaces (RHS) build…
In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A…
Bridging the sim2real gap between computationally inexpensive models and complex physical systems remains a central challenge in machine learning applications to engineering problems, particularly in multi-scale settings where reduced-order…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
Real time calculation of inverse kinematics (IK) with dynamically stable configuration is of high necessity in humanoid robots as they are highly susceptible to lose balance. This paper proposes a methodology to generate joint-space…
This paper introduces a method to reduce interference in OFDM radar systems through the use of reconfigurable intelligent surfaces (RIS). The method involves adjusting the RIS elements to diminish interference effects and improve the…
In this paper, we investigate resource allocation algorithm design for intelligent reflecting surface (IRS)-assisted multiuser cognitive radio (CR) systems. In particular, an IRS is deployed to mitigate the interference caused by the…
We present efficient implementations of atom reconfiguration algorithms for both CPUs and GPUs, along with a batching routine to merge displacement operations for parallel execution. Leveraging graph-theoretic methods, our approach derives…