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Handover (HO) management has attracted attention of research in the context of wireless cellular communication networks. One crucial problem of HO management is to deal with increasing HOs experienced by a mobile user. To address this…
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more…
Teleoperation is increasingly being adopted as a critical fallback for autonomous vehicles. However, the impact of network latency on vision-based, perception-driven control remains insufficiently studied. The present work investigates the…
In this article, we consider the problem of relay assisted computation offloading (RACO), in which user A aims to share the results of computational tasks with another user B through wireless exchange over a relay platform equipped with…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…
In the operation of networked control systems, where multiple processes share a resource-limited and time-varying cost-sensitive network, communication delay is inevitable and primarily influenced by, first, the control systems deploying…
Assessing human performance in robotic scenarios such as those seen in telepresence and teleoperation has always been a challenging task. With the recent spike in mixed reality technologies and the subsequent focus by researchers, new…
Virtually all of the rapidly increasing data traffic consumed by mobile users requires some kind of processing, normally performed at cloud servers. A recent thrust, {\em mobile edge computing}, moves such processing to servers {\em within}…
Closed-loop performance of sequential decision making algorithms, such as model predictive control, depends strongly on the choice of controller parameters. Bayesian optimization allows learning of parameters from closed-loop experiments,…
Mobile Edge Computing (MEC) pushes computing functionalities away from the centralized cloud to the network edge, thereby meeting the latency requirements of many emerging mobile applications and saving backhaul network bandwidth. Although…
Low-cost teleguidance of medical procedures is becoming essential to provide healthcare to remote and underserved communities. Human teleoperation is a promising new method for guiding a novice person with relatively high precision and…
Mobile-edge computing (MEC) emerges as a promising paradigm to improve the quality of computation experience for mobile devices. Nevertheless, the design of computation task scheduling policies for MEC systems inevitably encounters a…
It remains a challenging problem to tightly estimate the worst case response time of an application in a distributed embedded system, especially when there are dependencies between tasks. We discovered that the state-of-the art techniques…
Human-in-the-loop manipulation is useful in when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator's hand as an input device can provide an intuitive control…
Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…
Efficient and intuitive Human-Robot interfaces are crucial for expanding the user base of operators and enabling new applications in critical areas such as precision agriculture, automated construction, rehabilitation, and environmental…
This paper studies a wireless powered mobile edge computing (MEC) system with fluctuating channels and dynamic task arrivals over time. We jointly optimize the transmission energy allocation at the energy transmitter (ET) for WPT and the…
Motivated by the proliferation of mobile devices, we consider a basic form of the ubiquitous problem of time-delay estimation (TDE), but with communication constraints between two non co-located sensors. In this setting, when joint…
We consider a network of smart sensors for an edge computing application that sample a time-varying signal and send updates to a base station for remote global monitoring. Sensors are equipped with sensing and compute, and can either send…