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This paper introduces a distributed leaderless swarm formation control framework to address the problem of collectively driving a swarm of robots to track a time-varying formation. The swarm's formation is captured by the trajectory of an…
Most of the existing P2P content distribution schemes implement a random or rarest piece first dissemination procedure to avoid duplicate transmission of the same pieces of data and rare pieces of data occurring in the network. This problem…
A non-regenerative dual-hop wireless system based on a distributed space-time coding strategy is considered. It is assumed that each relay retransmits an appropriately scaled space-time coded version of its received signal. The main goal of…
Two fundamental problems of distributed computing are Gathering and Arbitrary pattern formation (\textsc{Apf}). These two tasks are different in nature as in gathering robots meet at a point but in \textsc{Apf} robots form a fixed pattern…
In novel forms of the Social Internet of Things, any mobile user within communication range may help routing messages for another user in the network. The resulting message delivery rate depends both on the users' mobility patterns and the…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
Most of today's communication systems are designed to target reliable message recovery after receiving the entire encoded message (codeword). However, in many practical scenarios, the transmission process may be interrupted before receiving…
Partitioning large networks into stable clusters of synchronized nodes is a challenging task. Recent approaches based on spectral analysis can provide exact results on specific dynamics but remain unfeasible for very large networks.…
Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…
We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
We analyze a wireless line network employing wireless network coding. The two end nodes exchange their packets through relays. While a packet at a relay might not find its coding pair upon arrival, a transmission cost can be reduced by…
We consider a set of k autonomous robots that are endowed with visibility sensors (but that are otherwise unable to communicate) and motion actuators. Those robots must collaborate to reach a sin- gle vertex that is unknown beforehand, and…
We investigate the use of network coding for information dissemination over a wireless network. Using network coding allows for a simple, distributed and robust algorithm where nodes do not need any information from their neighbors. In this…
The design of codes for communicating reliably over a statistically well defined channel is an important endeavor involving deep mathematical research and wide-ranging practical applications. In this work, we present the first family of…
We consider the problem of collectively delivering some message from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent has a limited energy which constrains the distance it can move.…
Aggregation is a fundamental behavior for swarm robotics that requires a system to gather together in a compact, connected cluster. In 2014, Gauci et al. proposed a surprising algorithm that reliably achieves swarm aggregation using only a…
We consider communication over a noisy network under randomized linear network coding. Possible error mechanism include node- or link- failures, Byzantine behavior of nodes, or an over-estimate of the network min-cut. Building on the work…
We put forth new models for universal channel coding. Unlike standard codes which are designed for a specific type of channel, our most general universal code makes communication resilient on every channel, provided the noise level is below…
This work considers a layered coding approach for efficient transmission of data over a wireless block fading channel without transmitter channel state information (CSI), which is connected to a limited capacity reliable link, known as the…
The goal of this paper is to increase our understanding of the fundamental performance limits of mobile and Delay Tolerant Networks (DTNs), where end-to-end multi-hop paths may not exist and communication routes may only be available…