Related papers: Dynamic Time Slot Allocation Algorithm for Quadcop…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized…
This paper proposes a Time Division Multiple Access (TDMA) MAC slot allocation protocol with efficient bandwidth usage in wireless sensor networks and Internet of Things (IoTs). The developed protocol has two primary components: a…
Wireless sensor networks benefit from communication protocols that reduce power requirements by avoiding frame collision. Time Division Media Access methods schedule transmission in slots to avoid collision, however these methods often lack…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
Distributed optimization offers a promising paradigm for trajectory planning in Unmanned Aerial Vehicle (UAV) swarms, yet its deployment in communication-constrained environments remains challenging due to unreliable links and limited data…
Collaborative simultaneous localization and mapping (CSLAM) is essential for autonomous aerial swarms, laying the foundation for downstream algorithms such as planning and control. To address existing CSLAM systems' limitations in relative…
In large-scale resource-constrained wireless networks, such as those prevalent in the Internet of Things (IoT), efficient communication scheduling remains a critical challenge. Among the various approaches, Time Division Multiple Access…
This paper has been withdrawn by arXiv. arXiv admin note: author list truncated due to disputed authorship and content. This submission repeats large portions of text from this http URL by other authors. Duty cycle mode in WSN improves…
With the development of the 5G and Internet of Things, amounts of wireless devices need to share the limited spectrum resources. Dynamic spectrum access (DSA) is a promising paradigm to remedy the problem of inefficient spectrum utilization…
Recently, swarms or formations of drones have received increased interest both in the literature and in applications. To dynamically adapt to their operating environment, swarm members need to communicate wirelessly for control and…
The existing distributed TDMA-scheduling techniques can be classified as either static or dynamic. The primary purpose of static TDMA-scheduling algorithms is to improve the channel utilization by generating a schedule of shorter length.…
To plan the trajectories of a large-scale heterogeneous swarm, sequentially or synchronously distributed methods usually become intractable due to the lack of global clock synchronization. To this end, we provide a novel asynchronous…
It is well known that biology-inspired self-maintaining algorithms in wireless sensor nodes achieve near optimum time division multiple access (TDMA) characteristics in a decentralized manner and with very low complexity. We extend such…
Multicopter swarms with decentralized structure possess the nature of flexibility and robustness, while efficient spatial-temporal trajectory planning still remains a challenge. This report introduces decentralized spatial-temporal…
Deployment of Unmanned Aerial Vehicles (UAVs) in autonomous formations necessitates accurate and timely communication of safety information. A communication protocol that supports timely and successful transfer of safety information between…
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…
Dynamic spectrum access (DSA) enables secondary networks to find and efficiently exploit spectrum opportunities. A key factor to design a DSA network is the spectrum sensing algorithms for multiple channels with multiple users. Multi-user…
Swarm trajectory optimization problems are a well-recognized class of multi-agent optimal control problems with strong nonlinearity. However, the heuristic nature of needing to set the final time for agents beforehand and the time-consuming…
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…