Related papers: Collaborative Multi-Radars Tracking by Distributed…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
This paper proposes a scalable decentralized safety filter for multi-agent systems based on high-order control barrier functions (HOCBFs) and auction-based responsibility allocation. While decentralized HOCBF formulations ensure pairwise…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…
We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error. Existing approaches to distributed tracking make limiting…
This paper studies a wireless network where multiple users cooperate with each other to improve the overall network performance. Our goal is to design an optimal distributed power allocation algorithm that enables user cooperation, in…
In time-sensitive and dynamic missions, multi-UAV teams must respond quickly to new information and objectives. This paper presents a dynamic decentralized task allocation algorithm for allocating new tasks that appear online during the…
We consider the problem of finding a low-cost allocation and ordering of tasks between a team of robots in a d-dimensional, uncertain, landscape, and the sensitivity of this solution to changes in the cost function. Various algorithms have…
In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile…
Cooperative localization and target tracking are essential for multi-robot systems to implement high-level tasks. To this end, we propose a distributed invariant Kalman filter based on covariance intersection for effective multi-robot pose…
State-of-the-art drone technologies have severe flight time limitations due to weight constraints, which inevitably lead to a relatively small amount of available energy. Therefore, frequent battery replacement or recharging is necessary in…
We consider a general multi-connectivity framework, intended for ultra-reliable low-latency communications (URLLC) services, and propose a novel, preallocation-based combinatorial auction approach for the efficient allocation of channels.…
In this paper a new mathematical model is proposed for task scheduling and resource allocation in Grid systems. In this novel model, load balancing, starvation prevention and failing strategies are stated as the constraints and the solution…
We address the problem of maintaining resource availability in a networked multi-robot system performing distributed target tracking. In our model, robots are equipped with sensing and computational resources enabling them to track a…
Automotive radar emerges as a crucial sensor for autonomous vehicle perception. As more cars are equipped radars, radar interference is an unavoidable challenge. Unlike conventional approaches such as interference mitigation and…
In this paper we study the problem of cooperative searching and tracking (SAT) of multiple moving targets with a group of autonomous mobile agents that exhibit limited sensing capabilities. We assume that the actual number of targets is not…
Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to…
This paper considers a multiagent, connected, robotic fleet where the primary functionality of the agents is sensing. A distributed multi-sensor control strategy maximizes the value of the collective sensing capability of the fleet, using…
This paper is concerned with developing a novel distributed Kalman filtering algorithm over wireless sensor networks based on randomized consensus strategy. Compared with the centralized algorithm, distributed filtering techniques require…
This work addresses the problem of range-Doppler multiple target detection in a radar system in the presence of slow-time correlated and heavy-tailed distributed clutter. Conventional target detection algorithms assume Gaussian-distributed…
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…