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The problem of multi-robot target tracking asks for actively planning the joint motion of robots to track targets. In this paper, we focus on such target tracking problems in adversarial environments, where attacks or failures may…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
The computing in the network (COIN) paradigm has emerged as a potential solution for computation-intensive applications like the metaverse by utilizing unused network resources. The blockchain (BC) guarantees task-offloading privacy, but…
We study here the problem of Antenna Domain Formation (ADF) in cloud RAN systems, whereby multiple remote radio-heads (RRHs) are each to be assigned to a set of antenna domains (ADs), such that the total interference between the ADs is…
Model-free or learning-based control, in particular, reinforcement learning (RL), is expected to be applied for complex robotic tasks. Traditional RL requires a policy to be optimized is state-dependent, that means, the policy is a kind of…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…
The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…
This paper investigates the optimization problem of scheduling autonomous mobile robots (AMRs) in hospital settings, considering dynamic requests with different priorities. The primary objective is to minimize the daily service cost by…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
In order to make Internet connections ubiquitous and autonomous in our daily lives, maximizing the utilization of radio resources and social information is one of the major research topics in future mobile communication technologies. Fog…
This paper addresses the problem of the communication of optimally compressed information for mobile robot path-planning. In this context, mobile robots compress their current local maps to assist another robot in reaching a target in an…
The next generation wireless networks need efficient mechanisms for data dissemination that should support users with better Quality of Service (QoS). Nevertheless, the existing solutions are unable to handle this demand and require either…
Operating cloud service infrastructures requires high energy efficiency while ensuring a satisfactory service level. Motivated by data centers, we consider a workload routing and server speed control policy applicable to the system…
Swarm robotics is envisioned to automate a large number of dirty, dangerous, and dull tasks. Robots have limited energy, computation capability, and communication resources. Therefore, current swarm robotics have a small number of robots,…
Reliable coordination and efficient communication are critical challenges for multi-agent robotic exploration of environments where communication is limited. This work introduces Adaptive-RF Transmission (ART), a novel communication-aware…
Rate adaptation plays a key role in determining the performance of wireless LANs. In this paper, we introduce a semi-Markovian framework to analyze the performance of two of the most popular rate adaptation algorithms used in wireless LANs,…
The implementation of modern monitoring systems for power quality disturbances have the potential to generate substantial amounts of data, reaching a point where transmission and storage of high-frequency measurements become impractical.…
In robotics, data acquisition often plays a key part in unknown environment exploration. For example, storing information about the topography of the explored terrain or the natural dangers in the environment can inform the decision-making…
Arbitrary Pattern Formation (APF) is a fundamental coordination problem in swarm robotics. It requires a set of autonomous robots (mobile computing units) to form an arbitrary pattern (given as input) starting from any initial pattern. This…