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Many drone-related applications (e.g., drone-aided video capture, drone traffic and safety management) require group communications between drones to efficiently disseminate data or reliably deliver critical information, making use of the…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
This paper introduces a novel bio-mimetic approach for distributed control of robotic swarms, inspired by the collective behaviors of swarms in nature such as schools of fish and flocks of birds. The agents are assumed to have limited…
We consider the problem of dynamic spectrum access for network utility maximization in multichannel wireless networks. The shared bandwidth is divided into K orthogonal channels. In the beginning of each time slot, each user selects a…
Unmanned Aerial Vehicles (UAVs) have been increasingly used in the context of remote sensing missions such as target search and tracking, mapping, or surveillance monitoring. In the first part of our paper we consider agent dynamics,…
We describe a new synchronous and distributed medium access control (MAC) protocol for multihop wireless networks that provides bandwidth guarantees to unicast connections. Our MAC protocol is based on a slotted time division multiple…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
In the event of natural or man-made disasters in an urban environment, such as fires, floods, and earthquakes, a swarm of unmanned aerial vehicles (UAVs) can rapidly sweep and provide coverage to monitor the area of interest and locate…
This paper introduces the Discrete Dithered Desynchronization (D3sync) algorithm which is a decentralized Time Division Multiple Access (TDMA) technique in which a set of network nodes computes iteratively a conflict-free schedule so that…
Distributed coordination algorithms (DCA) carry out information processing processes among a group of networked agents without centralized information fusion. Though it is well known that DCA characterized by an SIA (stochastic,…
Efficient scheduling is of great significance to rationally make use of scarce satellite resources. Task clustering has been demonstrated to realize an effective strategy to improve the efficiency of satellite scheduling. However, the…
This article proposes a collaborative control framework for an autonomous aerial swarm tasked with the surveillance of a convex region of interest. Each Mobile Aerial Agent (MAA) is equipped with a Pan-Tilt-Zoom (PTZ) camera of conical FOV…
In this paper, we study joint power control and scheduling in uplink massive multiple-input multiple-output (MIMO) systems with randomly arriving data traffic. We consider both co-located and Cell-Free (CF) Massive MIMO, where the…
User mobility in wireless data networks is increasing because of technological advances and the desire for voice and multimedia applications. These applications, however, require fast handoffs between base stations to maintain the quality…
This letter studies a wireless system consisting of distributed ground terminals (GTs) communicating with an unmanned aerial vehicle (UAV) that serves as a mobile base station (BS). The UAV flies cyclically above the GTs at a fixed…
In this paper, we consider the use of radio environment maps (REMs) in vehicular dynamic spectrum access (VDSA) for vehicle platooning applications. We propose an algorithm that dynamically allocates the frequency bands and transmission…
The Dynamic Targeting (DT) mission concept is an approach to satellite observation in which a lookahead sensor gathers information about the upcoming environment and uses this information to intelligently plan observations. Previous work…
This paper presents a continuum mechanics-based approach for real-time deployment (RTD) of a multi-quadcopter system between moving initial and final configurations arbitrarily distributed in a 3-D motion space. The proposed RTD problem is…
Many TDMA- and CSMA-based protocols try to obtain fair channel access and to increase channel utilization. It is still challenging and crucial in Wireless Sensor Networks (WSNs), especially when the time synchronization cannot be well…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…