Related papers: Optimization of Mobile Robotic Relay Operation for…
This paper introduces a new mobile sensor scheduling problem, involving a single robot tasked with monitoring several events of interest that occur at different locations. Of particular interest is the monitoring of transient events that…
We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…
We investigate the distributed planning of robot trajectories for optimal execution of cooperative tasks with time windows. In this setting, each task has a value and is completed if sufficiently many robots are simultaneously present at…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
Relay networks having $n$ source-to-destination pairs and $m$ half-duplex relays, all operating in the same frequency band in the presence of block fading, are analyzed. This setup has attracted significant attention and several relaying…
We design dynamic routing policies for an overlay network which meet delay requirements of real-time traffic being served on top of an underlying legacy network, where the overlay nodes do not know the underlay characteristics. We pose the…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
Relaying can improve the coverage and performance of wireless access networks. In presence of a localisation system at the mobile nodes, the use of such location estimates for relay node selection can be advantageous as such information can…
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure…
This paper studies the outage probability minimization problem for a multiple relay network with energy harvesting constraints. The relays are hybrid nodes used for simultaneous wireless information and power transfer from the source radio…
We investigate optimal routing and scheduling strategies for multi-hop wireless networks with rateless codes. Rateless codes allow each node of the network to accumulate mutual information from every packet transmission. This enables a…
We consider a system consisting of multiple mobile robots in which the user can at any time issue relocation tasks ordering one of the robots to move from its current location to a given destination location. In this paper, we deal with the…
This paper considers a two-hop network consisting of a source, two parallel half-duplex relay nodes, and two destinations. While the destinations have an adequate power supply, the source and relay nodes rely on harvested energy for data…
This work studies the joint problem of power and trajectory optimization in an unmanned aerial vehicle (UAV)-enabled mobile relaying system. In the considered system, in order to provide convenient and sustainable energy supply to the UAV…
This paper considers the dispatching of large-scale real-time ride-sharing systems to address congestion issues faced by many cities. The goal is to serve all customers (service guarantees) with a small number of vehicles while minimizing…
In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
In this work, we investigate the optimal dynamic packet scheduling policy in a wireless relay network (WRN). We model this network by two sets of parallel queues, that represent the subscriber stations (SS) and the relay stations (RS), with…