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When, in addition to stability, position synchronization is also desired in bilateral teleoperation, Time Domain Passivity Approach (TDPA) alone might not be able to fulfill the desired objective. This is due to an undesired effect caused…
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
This study proposes an approach for establishing an optimal multihop ad-hoc network using multiple unmanned aerial vehicles (UAVs) to provide emergency communication in disaster areas. The approach includes two stages, one uses particle…
Drone-based entanglement distribution provides full spatiotemporal coverage for quantum networks, enabling quantum key distribution (QKD) in dynamic environments. The security of QKD fundamentally depends on high-fidelity quantum state…
Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight…
One of the major challenges in wireless sensor networks (WSNs) is the mitigation of collisions due to simultaneous transmissions by multiple nodes over a common channel which are located in a proximity. TDMA-based channel access provides…
Subscriber satisfaction and maximum radio resource utilization are the pivotal criteria in communication system design. In multi-Carrier CDMA system, different paging algorithms are used for locating user within the shortest possible time…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
Recent advances in distributed learning systems have introduced effective solutions for implementing collaborative artificial intelligence techniques in wireless communication networks. Federated learning approaches provide a…
This paper develops and evaluates the performance of an allocation agent to be potentially integrated into the onboard Detect and Avoid (DAA) computer of an Unmanned Aircraft System (UAS). We consider a UAS that can be fully controlled by…
The size and capabilities of Earth-observing satellite constellations are rapidly increasing. Leveraging distributed onboard control, we can enable novel time-sensitive measurements and responses. However, deploying autonomy to large…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
The advancement in cyber-physical systems has opened a new way in disaster management and rescue operations. The usage of UAVs is very promising in this context. UAVs, mainly quadcopters, are small in size and their payload capacity is…
We develop novel data dissemination and collection algorithms for Wireless Sensor Networks (WSNs) in which we consider $n$ sensor nodes distributed randomly in a certain field to measure a physical phenomena. Such sensors have limited…
Unmanned aerial vehicles (UAVs)-enabled aerial communication provides a flexible, reliable, and cost-effective solution for a range of wireless applications. However, due to the high line-of-sight (LoS) probability, aerial communications…
Cognitive ad-hoc networks allow users to access an unlicensed/shared spectrum without the need for any coordination via a central controller and are being envisioned for futuristic ultra-dense wireless networks. The ad-hoc nature of…
This paper studies a downlink system that combines orthogonal-time-frequency-space (OTFS) modulation and sparse code multiple access (SCMA) to support massive connectivity in high-mobility environments. We propose a cross-domain receiver…
UAV swarms can form virtual antenna arrays to exploit additional spatial degrees of freedom and enhance integrated sensing and communication (ISAC). The optimization of UAV positions is challenging due to the distributed nature of swarms…
Channel allocation is the task of assigning channels to users such that some objective (e.g., sum-rate) is maximized. In centralized networks such as cellular networks, this task is carried by the base station which gathers the channel…
We investigate the application of a multi-objective genetic algorithm to the problem of task allocation in a self-organizing, decentralized, threshold-based swarm. Each agent in our system is capable of performing four tasks with a response…