Related papers: Optimization of Mobile Robotic Relay Operation for…
The paper present a novel approach for the solution of the Multi-Robot Communication-Aware Trajectory Planning, which builds on a general optimisation framework where the changes in robots positions are used as decision variable, and linear…
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…
We provide a framework for the assignment of multiple robots to goal locations, when robot travel times are uncertain. Our premise is that time is the most valuable asset in the system. Hence, we make use of redundant robots to counter the…
We consider an online network routing problem in continuous time, where calls have Poisson arrivals and exponential durations. The first-fit dynamic alternative routing algorithm sequentially selects up to $d$ random two-link routes between…
In this paper, we consider a three node, two-way relay system with digital network coding over static channels where all link gains are assumed to be constant during transmission. The aim is to minimize total energy consumption while…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots…
This paper considers the problem of selecting a subset of nodes in a two-hop wireless network to act as relays in aiding the communication between the source-destination pair. Optimal relay subset selection with the objective of maximizing…
To realize cooperative computation and communication in a relay mobile edge computing system, we develop a hybrid relay forward protocol, where we seek to balance the execution delay and network energy consumption. The problem is formulated…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
In this paper, an adaptive two-way relay cooperation scheme is studied for multiple-relay cognitive radio networks to improve the performance of secondary transmissions. The power allocation and relay selection schemes are derived to…
Relay-enabled backscatter communication (BC) is an intriguing paradigm to alleviate energy shortage and improve throughput of Internet-of-Things (IoT) devices. Most of the existing works focus on the resource allocation that considered the…
Most existing routing strategies to improve transport efficiency have little attention what order should the packets be delivered, just simply used first-in-first-out queue discipline. However, it is far from optimal. In this paper we apply…
Non-linear Trajectory Optimisation (TO) methods require good initial guesses to converge to a locally optimal solution. A feasible guess can often be obtained by allocating a large amount of time for the trajectory to complete. However for…
In this paper, we consider a wireless powered multi-relay network in which a multi-antenna hybrid access point underlaying a cellular system transmits information to distant receivers. Multiple relays capable of energy harvesting are…
This paper studies the problem of scheduling in single-hop wireless networks with real-time traffic, where every packet arrival has an associated deadline and a minimum fraction of packets must be transmitted before the end of the deadline.…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…
Multi-robot patrolling represents a fundamental problem for many monitoring and surveillance applications and has gained significant interest in recent years. In patrolling, mobile robots repeatedly travel through an environment, capture…
We consider the problem of collectively delivering some message from a specified source to a designated target location in a graph, using multiple mobile agents. Each agent has a limited energy which constrains the distance it can move.…