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With the growth of the construction industry and the global shortage of skilled labor, the automation of crane control has become increasingly important for safe and efficient operations. A central challenge in automatic crane control is…
As robotic swarm systems emerge, it is increasingly important to provide strong guarantees on energy consumption and safety to maximize system performance. One approach to achieve these guarantees is through constraint-driven control, where…
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
In this paper we propose wireless sensor network architecture with layered protocols, targeting different aspects of the awareness requirements in wireless sensor networks. Under such a unified framework, we pay special attention to the…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
The growing popularity of big data and Internet of Things (IoT) applications bring new challenges to the wireless communication community. Wireless transmission systems should more efficiently support the large amount of data traffics from…
Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of the dynamics, yet some aspects of the physical world can…
Vehicular energy network (VEN) is a vehicular network which can transport energy over a large geographical area by means of electric vehicles (EVs). In the near future, an abundance of EVs, plentiful generation of the renewables, and mature…
The importance of ground Mobile Robots (MRs) and Unmanned Aerial Vehicles (UAVs) within the research community, industry, and society is growing fast. Many of these agents are nowadays equipped with communication systems that are, in some…
This paper proposes computationally efficient algorithms to maximize the energy efficiency in multi-carrier wireless interference networks, by a suitable allocation of the system radio resources, namely the transmit powers and subcarrier…
In this paper, we propose a framework design for wireless sensor networks based on multiple unmanned aerial vehicles (UAVs). Specifically, we aim to minimize deployment and operational costs, with respect to budget and power constraints. To…
This letter aims to present a novel approach for unmanned aerial vehicles (UAV)' path planning with respect to certain quality of service requirements. More specifically, we study the max-min fairness problem in an air-to-ground…
This work introduces a solution to enhance human-robot interaction over limited wireless connectivity. The goal is toenable remote control of a robot through a virtual reality (VR)interface, ensuring a smooth transition to autonomous mode…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
The remote wireless control of industrial systems is one of the major use cases for 5G and beyond systems: in these cases, the massive amounts of sensory information that need to be shared over the wireless medium may overload even…
Reconfigurable Intelligent Surface (RIS) technology has gained significant attention due to its ability to enhance the performance of wireless communication systems. The main advantage of RIS is that it can be strategically placed in the…
Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…
Drone delivery is rapidly emerging as a cost-effective and energy efficient alternative for last-mile delivery. Unlike ground vehicles, a drone's energy consumption depends on its payload in addition to travel distance. This creates a…
In wireless sensor networks (WSNs), utilizing the unmanned aerial vehicle (UAV) as a mobile data collector for the ground sensor nodes (SNs) is an energy-efficient technique to prolong the network lifetime. Specifically, since the UAV can…