Related papers: Dynamic Time Slot Allocation Algorithm for Quadcop…
We present a novel, decentralized collision avoidance algorithm for navigating a swarm of quadrotors in dense environments populated with static and dynamic obstacles. Our algorithm relies on the concept of Optimal Reciprocal…
We propose a novel framework for the allocation of drone swarms for delivery services known as Swarm-based Drone-as-a-Service (SDaaS). The allocation framework ensures minimum cost (aka maximum profit) to drone swarm providers while meeting…
Wireless resource allocation in digital-twin-enabled unmanned aerial vehicle (UAV) swarms must be both network-feasible and certifiably safe for closed-loop control. Existing packet-level or scalar-priority schedulers cannot meaningfully…
In this paper, we consider safety message transmission in a dense vehicular network. With increasing vehicular network density, the collision rate increases when multiple vehicles transmit safety messages simultaneously. To address this…
Desynchronization is one of the primitive services for complex networks because it arranges nodes to take turns accessing a shared resource. TDMA is a practical application of desynchronization because it allows node to share a common…
Cooperative pathfinding is a multi-agent path planning problem where a group of vehicles searches for a corresponding set of non-conflicting space-time trajectories. Many of the practical methods for centralized solving of cooperative…
The described multicoloring problem has direct applications in the context of wireless ad hoc and sensor networks. In order to coordinate the access to the shared wireless medium, the nodes of such a network need to employ some medium…
In this paper, we propose a decentralized coordina- tion algorithm for safe and efficient management of a group of mobile robots following predefined paths in a dynamic industrial environment. The proposed algorithm is based on a shared…
We consider the problem of dynamic spectrum access (DSA) in cognitive wireless networks, where only partial observations are available to the users due to narrowband sensing and transmissions. The cognitive network consists of primary users…
In time-critical wireless sensor network (WSN) applications, a high degree of reliability is commonly required. A dynamical jumping real-time fault-tolerant routing protocol (DMRF) is proposed in this paper. Each node utilizes the remaining…
This paper proposes continuum deformation as a strategy for controlling the collective motion of a multiple quadcopter system (MQS) carrying a common payload. Continuum deformation allows expansion and contraction of inter-agent distances…
Desynchronization approaches in wireless sensor networks converge to time-division multiple access (TDMA) of the shared medium without requiring clock synchronization amongst the wireless sensors, or indeed the presence of a central…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
The strength of carrier-sense multiple access with collision avoidance (CSMA/CA) can be combined with that of time-division multiple access (TDMA) to enhance the channel access performance in wireless networks such as the IEEE…
This paper focuses on a new path division multiple access (PDMA) for both uplink (UL) and downlink (DL) massive multiple-input multiple-output network over a high mobility scenario, where the orthogonal time frequency space (OTFS) is…
Unlike aerial base station enabled by a single unmanned aerial vehicle (UAV), aerial coordinated multiple points (CoMP) can be enabled by a UAV swarm. In this case, the management of multiple UAVs is important. This paper considers the…
With the rapid advancements in coherent Passive Optical Network (PON) technologies featuring 100G and higher data rates, this paper addresses the urgent requirement for sophisticated simulation and MAC layer development within the domain of…
A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
In this paper, we propose a new resource allocation framework for unmanned aerial vehicle (UAV) assisted multicast wireless networks in which the network users according to their request are divided into several multicast groups. We adopt…