Related papers: Optimization of Mobile Robotic Relay Operation for…
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
We study the Symmetric Rendezvous Search Problem for a multi-robot system. There are $n>2$ robots arbitrarily located on a line. Their goal is to meet somewhere on the line as quickly as possible. The robots do not know the initial location…
We use information theoretic achievable rate formulas for the multi-relay channel to study the problem of optimal placement of relay nodes along the straight line joining a source node and a sink node. The achievable rate formulas that we…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
We propose a selection region based multi-hop routing protocol for random mobile ad hoc networks, where the selection region is defined by two parameters: a reference distance and a selection angle. At each hop, a relay is chosen as the…
We consider the problem of optimal unsignalized intersection management, wherein we seek to obtain safe and optimal trajectories, for a set of robots that arrive randomly and continually. This problem involves repeatedly solving a mixed…
We consider a team of mobile autonomous robots with the aim to cover a given set of targets. Each robot aims to select a target to cover and physically reach it by the final time in coordination with other robots given the locations of…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
In wireless communication networks, relays are required when the quality of the direct link between the source and the destination is not high enough to support reliable transmission because of long distances or obstacles. Selecting the…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
This paper presents a distributed resource allocation algorithm to jointly optimize the power allocation, channel allocation and relay selection for decode-and-forward (DF) relay networks with a large number of sources, relays, and…
The problem of enhancing Quality-of-Service (QoS) in power constrained, mobile relay beamforming networks, by optimally and dynamically controlling the motion of the relaying nodes, is considered, in a dynamic channel environment. We assume…
In this paper, we investigate resource allocation design for unmanned aerial vehicle (UAV)-enabled communication systems, where a UAV is dispatched to provide communications to multiple user nodes. Our objective is to maximize the…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
In the fast evacuation problem, we study the path planning problem for two robots who want to minimize the worst-case evacuation time on the unit disk. The robots are initially placed at the center of the disk. In order to evacuate, they…
We study outage regions for energy-constrained multi-hop and adaptive multi-route networks with an arbitrary number of relay nodes. Optimal power allocation strategies in the sense that outage probability is minimized are derived depending…
In this paper, we consider a dense vehicular communication network where each vehicle broadcasts its safety information to its neighborhood in each transmission period. Such applications require low latency and high reliability, and thus,…