Related papers: Robot Subset Selection for Swarm Lifetime Maximiza…
Many real-world systems, such as social networks, rely on mining efficiently large graphs, with hundreds of millions of vertices and edges. This volume of information requires partitioning the graph across multiple nodes in a distributed…
This paper considers a relay-assisted bidirectional cellular network where the base station (BS) communicates with each mobile station (MS) using OFDMA for both uplink and downlink. The goal is to improve the overall system performance by…
We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
We consider a problem of robotic router placement and mobility control with the objective of formation and maintenance of an optimal communication network between a set of transmitter-receiver pairs. In this scenario, the communication path…
We consider the problem of dominating set-based virtual backbone used for routing in asymmetric wireless ad-hoc networks. These networks have non-uniform transmission ranges and are modeled using the well-established disk graphs. The…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
Real-time visual analysis tasks, like tracking and recognition, require swift execution of computationally intensive algorithms. Visual sensor networks can be enabled to perform such tasks by augmenting the sensor network with processing…
We consider optimal distributed computation of a given function of distributed data. The input (data) nodes and the sink node that receives the function form a connected network that is described by an undirected weighted network graph. The…
Distributed computing excels at processing large scale data, but the communication cost for synchronizing the shared parameters may slow down the overall performance. Fortunately, the interactions between parameter and data in many problems…
We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings. Two settings are studied: a traditional one whose…
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…
We consider distributed optimization over orthogonal collision channels in spatial random access networks. Users are spatially distributed and each user is in the interference range of a few other users. Each user is allowed to transmit…
Federated learning, where algorithms are trained across multiple decentralized devices without sharing local data, is increasingly popular in distributed machine learning practice. Typically, a graph structure $G$ exists behind local…
We study distributed planning for multi-robot systems to provide optimal service to cooperative tasks that are distributed over space and time. Each task requires service by sufficiently many robots at the specified location within the…
An increasing number of mobile applications rely on Machine Learning (ML) routines for analyzing data. Executing such tasks at the user devices saves the energy spent on transmitting and processing large data volumes at distant…
We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of…
Network slicing has been considered as one of the key enablers for 5G to support diversified services and application scenarios. This paper studies the distributed network slicing utilizing both the spectrum resource offered by…
Robot swarms offer significant potential for inspecting diverse infrastructure, ranging from bridges to space stations. However, effective inspection requires accurate robot localization, which demands substantial computational resources…
We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a reliable infrastructure for communication. The backbone for modern mapping techniques…
The mobile robot dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of…