Related papers: Communication-Aware Energy Efficient Trajectory Pl…
Connectivity and coverage are two crucial problems for wireless sensor networks. Several studies have focused on proposing solutions for improving and adjusting the initial deployment of a wireless sensor network to meet these two criteria.…
In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…
This paper considers controlled scalar systems relying on a lossy wireless feedback channel. In contrast with the existing literature, the focus is not on the system controller but on the wireless transmit power controller that is…
In recent years, the increasing prevalence and intensity of wildfires have posed significant challenges to emergency response teams. The utilization of unmanned aerial vehicles (UAVs), commonly known as drones, has shown promise in aiding…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
In this paper, we study a cellular-enabled unmanned aerial vehicle (UAV) communication system consisting of one UAV and multiple ground base stations (GBSs). The UAV has a mission of flying from an initial location to a final location,…
Our goal is to design distributed coordination strategies that enable agents to achieve global performance guarantees while minimizing the energy cost of their actions with an emphasis on feasibility for real-time implementation. As a…
In this paper, we propose a novel optimization model for multiple Unmanned Areal Vehicles (UAVs) working as relays and helping Device-to-Device (D2D) communications at the same time. The goal of the UAVs is to operate in an energy-efficient…
The integrated radar and communication system is promising in the next generation wireless communication networks. However, its performance is confined by the limited energy. In order to overcome it, a wireless powered integrated radar and…
Energy consumption is a major limitation of low power and mobile devices. Efficient transmission protocols are required to minimize an energy consumption of the mobile devices for ubiquitous connectivity in the next generation wireless…
This paper considers a set of multiple independent control systems that are each connected over a non-stationary wireless channel. The goal is to maximize control performance over all the systems through the allocation of transmitting power…
The increasing usage of wireless sensor networks in human life is an indication of the high importance of this technology. Wireless sensor networks have a vast majority of applications in monitoring and care which are known as target…
Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by the end-effector when in contact with the environment. When a dynamic model of the…
We consider problems in which a mobile robot samples an unknown function defined over its operating space, so as to find a global optimum of this function. The path traveled by the robot matters, since it influences energy and time…
An indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and a mobile robotic user. The considered system is optimized for…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Existing communication systems exhibit inherent limitations in translating theory to practice when handling the complexity of optimization for emerging wireless applications with high degrees of freedom. Deep learning has a strong potential…
Obstacle avoidance path planning for uncrewed aerial vehicles (UAVs), or drones, is rarely addressed in most flight path planning schemes, despite obstacles being a realistic condition. Obstacle avoidance can also be energy-intensive,…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…