Related papers: Fast Biconnectivity Restoration in Multi-Robot Sys…
This paper proposes a novel data-driven control strategy for maintaining connectivity in networked multi-robot systems. Existing approaches often rely on a pre-determined communication model specifying whether pairwise robots can…
Most modern communication networks include fast rerouting mechanisms, implemented entirely in the data plane, to quickly recover connectivity after link failures. By relying on local failure information only, these data plane mechanisms…
We consider the problem of maximizing the algebraic connectivity of the communication graph in a network of mobile robots by moving them into appropriate positions. We define the Laplacian of the graph as dependent on the pairwise distance…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
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…
Graph connectivity and network design problems are among the most fundamental problems in combinatorial optimization. The minimum spanning tree problem, the two edge-connected spanning subgraph problem (2-ECSS) and the tree augmentation…
We address the problem of maintaining resource availability in a networked multi-robot team performing distributed tracking of unknown number of targets in an environment of interest. Based on our model, robots are equipped with sensing and…
The paper present a novel approach for the solution of the Multi-Robot Communication-Aware Trajectory Planning, which builds on a general optimisation framework where the changes in robots positions are used as decision variable, and linear…
Connectivity maintenance is crucial for the real world deployment of multi-robot systems, as it ultimately allows the robots to communicate, coordinate and perform tasks in a collaborative way. A connectivity maintenance controller must…
Assistive robotic devices are a particularly promising field of application for neural networks (NN) due to the need for personalization and hard-to-model human-machine interaction dynamics. However, NN based estimators and controllers may…
Topology control, including topology construction and maintenance phases, is a vital conception for wireless ad-hoc networks of any kind, expressly the wireless sensor networks (WSN). Topology maintenance, the latter phase, concerns several…
Based upon the idea that network functionality is impaired if two nodes in a network are sufficiently separated in terms of a given metric, we introduce two combinatorial \emph{pseudocut} problems generalizing the classical min-cut and…
Image correspondence serves as the backbone for many tasks in robotics, such as visual fusion, localization, and mapping. However, existing correspondence methods do not scale to large multi-robot systems, and they struggle when image…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
In the presence of dynamic insertions and deletions into a partially reconfigurable FPGA, fragmentation is unavoidable. This poses the challenge of developing efficient approaches to dynamic defragmentation and reallocation. One key aspect…
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…
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…
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes costs in terms of restricted robot mobility, resulting in…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…
Two-Phase TMR conserves energy by partitioning redundancy operations into two stages and making the execution of the third task copy optional, yet it remains susceptible to permanent faults. Reactive-TMR (R-TMR) counters this by isolating…