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For effective multi-agent trajectory planning, it is important to consider lightweight communication and its potential asynchrony. This paper presents a distributed trajectory planning algorithm for a quadrotor swarm that operates…
Smart City applications, such as traffic monitoring and disaster response, often use swarms of intelligent and cooperative drones to efficiently collect sensor data over different areas of interest and time spans. However, when the required…
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure…
This paper addresses the challenge of efficient rendezvous in multihop cognitive radio networks, where existing channel-hopping algorithms designed for single-hop scenarios incur increased delay and coordination inefficiencies in multinode…
In a multi-robot system, the appropriate allocation of the tasks to the individual robots is a very significant component. The availability of a centralized infrastructure can guarantee an optimal allocation of the tasks. However, in many…
In this paper, a distributed convex optimization problem with swarm tracking behavior is studied for continuous-time multi-agent systems. The agents' task is to drive their center to track an optimal trajectory which minimizes the sum of…
As the demands for immediate and effective responses increase in both civilian and military domains, the unmanned aerial vehicle (UAV) swarms emerge as effective solutions, in which multiple cooperative UAVs can work together to achieve…
Packet transmission scheduling on multi-hop wireless sensor networks with 3-egress gateway linear topology is studied. Each node generates a data packet in every one cycle period and forwards it bounded for either of gateways at edges. We…
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…
Premature convergence in particle swarm optimization (PSO) algorithm usually leads to gaining local optimum and preventing from surveying those regions of solution space which have optimal points in. In this paper, by applying special…
Over the past few years, the use of swarms of Unmanned Aerial Vehicles (UAVs) in monitoring and remote area surveillance applications has become widespread thanks to the price reduction and the increased capabilities of drones. The drones…
Effective operation and seamless cooperation of robotic systems are a fundamental component of next-generation technologies and applications. In contexts such as disaster response, swarm operations require coordinated behavior and mobility…
In time-sensitive and dynamic missions, multi-UAV teams must respond quickly to new information and objectives. This paper presents a dynamic decentralized task allocation algorithm for allocating new tasks that appear online during the…
Swarms of unmanned aerial vehicles (UAVs) are increasingly becoming vital to our society, undertaking tasks such as search and rescue, surveillance and delivery. A special variant of Distributed Model Predictive Control (DMPC) has emerged…
A novel approach for achieving fast evasion in self-localized swarms of Unmanned Aerial Vehicles (UAVs) threatened by an intruding moving object is presented in this paper. Motivated by natural self-organizing systems, the presented…
Dynamic spectrum access (DSA) is regarded as an effective and efficient technology to share radio spectrum among different networks. As a secondary user (SU), a DSA device will face two critical problems: avoiding causing harmful…
Cognitive Radio Networks (CRN) have enabled us to efficiently reuse the underutilized radio spectrum. The MAC protocol in CRN defines the spectrum usage by sharing the channels efficiently among users. In this paper we propose a novel TDMA…
Autonomous modeling of artificial swarms is necessary because manual creation is a time intensive and complicated procedure which makes it impractical. An autonomous approach employing deep reinforcement learning is presented in this study…
Several self-stabilizing time division multiple access (TDMA) algorithms are proposed for sensor networks. In addition to providing a collision-free communication service, such algorithms enable the transformation of programs written in…
In this work, we propose a dynamic buffer-aided distributed space-time coding (DSTC) scheme for cooperative direct-sequence code-division multiple access systems. We first devise a relay selection algorithm that can automatically select the…