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We consider the problem of organizing a scattered group of $n$ robots in two-dimensional space, with geometric maximum distance $D$ between robots. The communication graph of the swarm is connected, but there is no central authority for…
This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic…
Unmanned aerial vehicles (UAVs) can serve as aerial base stations (BSs) to extend the ubiquitous connectivity for ground users (GUs) in the sixth-generation (6G) era. However, it is challenging to cooperatively deploy multiple UAV swarms in…
This paper investigates the use of deep reinforcement learning (DRL) in a MAC protocol for heterogeneous wireless networking referred to as Deep-reinforcement Learning Multiple Access (DLMA). The thrust of this work is partially inspired by…
Efficient utilization of licensed spectrum in the cognitive radio network is challenging due to lack of coordination among the Secondary Users (SUs). Distributed algorithms proposed in the literature aim to maximize the network throughput…
Autonomous navigation requires robots to generate trajectories for collision avoidance efficiently. Although plenty of previous works have proven successful in generating smooth and spatially collision-free trajectories, their solutions…
To enforce incumbent protection through a spectrum access system (SAS) or future centralized shared spectrum system, dynamic protection area (DPA) neighborhood distances are employed. These distances are distance radii, in which citizen…
We consider the problem of decentralized sequential active hypothesis testing (DSAHT), where two transmitting agents, each possessing a private message, are actively helping a third agent--and each other--to learn the message pair over a…
In this paper, we design algorithms to protect swarm-robotics applications against sensor denial-of-service (DoS) attacks on robots. We focus on applications requiring the robots to jointly select actions, e.g., which trajectory to follow,…
Shared autonomy combines human user and AI copilot actions to control complex systems such as robotic arms. When a task is challenging, requires high dimensional control, or is subject to corruption, shared autonomy can significantly…
In this paper, a new detection algorithm is proposed for turbo coded Code Division Multiple Access (CDMA) signals in detect and forward cooperative channels. Use of user cooperation makes much improvement in the performance of CDMA systems.…
Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…
Efficient compression of correlated data is essential to minimize communication overload in multi-sensor networks. In such networks, each sensor independently compresses the data and transmits them to a central node due to limited…
Autonomous driving is reshaping the way humans travel, with millimeter wave (mmWave) radar playing a crucial role in this transformation to enabe vehicle-to-everything (V2X). Although chirp is widely used in mmWave radar systems for its…
Accurate traffic demand forecasting enables transportation management departments to allocate resources more effectively, thereby improving their utilization efficiency. However, complex spatiotemporal relationships in traffic systems…
The advancement towards 6G technology leverages improvements in aerial-terrestrial networking, where one of the critical challenges is the efficient allocation of transmit power. Although existing studies have shown commendable performance…
There is increasing demand for control of multi-robot and as well distributing large amounts of content to cluster of Unmanned Aerial Vehicles (UAV) on the operation. In recent years several large-scale accidents have happened. To…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
In this paper, a dynamic-programming approach to the coupled translational and rotational control of thruster-driven spacecraft is studied. To reduce the complexity of the problem, dynamic-programming-based optimal policies are calculated…
In this article, a novel time-coordination algorithm based on event-triggered communications is proposed to achieve coordinated path-following of UAVs. To be specific, in the approach adopted a UAV transmits its progression information over…