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Indoor autonomous navigation requires a precise and accurate localization system able to guide robots through cluttered, unstructured and dynamic environments. Ultra-wideband (UWB) technology, as an indoor positioning system, offers precise…
The applications of Wireless Sensor Networks (WSN) contain a wide variety of scenarios. In most of them, the network is composed of a significant number of nodes deployed in an extensive area in which not all nodes are directly connected.…
Mobile robots have the capability to work in real-time autonomously. Autonomous behavior is strictly dependent on knowing the position of the mobile robot. The positioning of a mobile robot in an indoor area is a difficult task for only one…
This paper reports the initial steps in the development of WaterLab, an ambitious experimental facility for the testing of new cyber-physical technologies in drinking water distribution networks (DWDN). WaterLab's initial focus is on…
Message transmission and message synchronization for multicontroller interdomain routing in software-defined networking (SDN) have long adaptation times and slow convergence speeds, coupled with the shortcomings of traditional interdomain…
Although Wi-Fi is an ideal technology for many ranging applications, the performance of current methods is limited by the system bandwidth, leading to low accuracy of $\sim 1$ m. For many applications, measuring differential range, viz.,…
It has been shown that the channel state information (CSI) of a Wi-Fi system can be exploited to localize Wi-Fi devices or track trajectory of a moving target. In the existing literature, both sensing tasks are treated separately and some…
Recent advances in quadrupedal robots have demonstrated impressive agility and the ability to traverse diverse terrains. However, hardware issues, such as motor overheating or joint locking, may occur during long-distance walking or…
We consider the problem of controlling a series of industrial systems, such as industrial robotics, in a factory environment over a shared wireless channel leveraging edge computing capabilities. The wireless control system model supports…
With the advent of 5G era, factories are transitioning towards wireless networks to break free from the limitations of wired networks. In 5G-enabled factories, unmanned automatic devices such as automated guided vehicles and robotic arms…
In many urban areas of the developing world, piped water is supplied only intermittently, as valves direct water to different parts of the water distribution system at different times. The flow is transient, and may transition between…
Autonomous underwater gliders use buoyancy control to achieve forward propulsion via a sawtooth-like, rise-and-fall trajectory. Because gliders are slow-moving relative to ocean currents, glider control must consider the effect of oceanic…
Aquatic mammals, such as pinnipeds, utilize their whiskers to detect and discriminate objects and analyze water movements, inspiring the development of robotic whiskers for sensing contacts, surfaces, and water flows. We present the design…
With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions…
Multicast communication technology is widely applied in wireless environments with a high device density. Traditional wireless network architectures have difficulty flexibly obtaining and maintaining global network state information and…
Rehabilitating cast iron pipes through lining offers several advantages, including increased durability, reduced water leaks, and minimal disruption.This approach presents a cost effective and environmentally friendly solution by sealing…
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…
Several situations exist where a geographic region of some size needs to be scanned or monitored through many sensors. Still, it is either absolutely impossible or prohibitively expensive to deploy and maintain wireless communication…
Training large Deep Neural Network (DNN) models at scale often encounters straggler issues, mostly in communications due to network congestion, RNIC/switch defects, or topological asymmetry. Under advanced pipeline parallelism, even minor…
The integration of various power sources, including renewables and electric vehicles, into smart grids is expanding, introducing uncertainties that can result in issues like voltage imbalances, load fluctuations, and power losses. These…