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Due to the limited computing resources of swarm of drones, it is difficult to handle computation-intensive tasks locally, hence the cloud based computation offloading is widely adopted. However, for the business which requires low latency…
Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized…
Various congestion control protocols have been designed to achieve high performance in different network environments. Modern online learning solutions that delegate the congestion control actions to a machine cannot properly converge in…
This paper studies collective motion optimization of a fleet of UAVs flying over a populated and geometrically constrained area. The paper treats UAVs as particles of a deformable body, thus, UAV coordination is defined by a homeomorphic…
A swarm of cooperating UAVs communicating with a distant multiantenna ground station can leverage MIMO spatial multiplexing to scale the capacity. Due to the line-of-sight propagation between the swarm and the ground station, the MIMO…
Unlike aerial base station enabled by a single unmanned aerial vehicle (UAV), aerial coordinated multiple points (CoMP) can be enabled by a UAV swarm. In this case, the management of multiple UAVs is important. This paper considers the…
Multi-robot visual simultaneous localization and mapping (SLAM) system is normally consisted of multiple mobile robots equipped with camera and/or other visual sensors. The networked robots work independently or cooperatively in an unknown…
Road congestion induces significant costs across the world, and road network disturbances, such as traffic accidents, can cause highly congested traffic patterns. If a planner had control over the routing of all vehicles in the network,…
Fast training of large machine learning models requires distributed training on AI clusters consisting of thousands of GPUs. The efficiency of distributed training crucially depends on the efficiency of the network interconnecting GPUs in…
For multiple Unmanned-Aerial-Vehicles (UAVs) assisted Mobile Edge Computing (MEC) networks, we study the problem of combined computation and communication for user equipments deployed with multi-type tasks. Specifically, we consider that…
Obstacle avoidance for Unmanned Aerial Vehicles (UAVs) in cluttered environments is significantly challenging. Existing obstacle avoidance for UAVs either focuses on fully static environments or static environments with only a few dynamic…
We focus on the problem of long-range dynamic replanning for off-road autonomous vehicles, where a robot plans paths through a previously unobserved environment while continuously receiving noisy local observations. An effective approach…
Drones have been getting more and more popular in many economy sectors. Both scientific and industrial communities aim at making the impact of drones even more disruptive by empowering collaborative autonomous behaviors -- also known as…
Unmanned aerial vehicle (UAV)-enabled communication is a promising technology to extend coverage and enhance throughput for traditional terrestrial wireless communication systems. In this paper, we consider a UAV-enabled wireless sensor…
The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle…
Multi-Agent Path Finding (MAPF) in crowded environments presents a challenging problem in motion planning, aiming to find collision-free paths for all agents in the system. MAPF finds a wide range of applications in various domains,…
This article proposes a collaborative control framework for an autonomous aerial swarm tasked with the surveillance of a convex region of interest. Each Mobile Aerial Agent (MAA) is equipped with a Pan-Tilt-Zoom (PTZ) camera of conical FOV…
In Unmanned Aerial Vehicle (UAV)-enabled mobile edge computing (MEC) systems, UAVs can carry edge servers to help ground user equipment (UEs) offloading their computing tasks to the UAVs for execution. This paper aims to minimize the total…
Robotic shepherding is a bio-inspired approach to autonomously guiding a swarm of agents towards a desired location. The research area has earned increasing research interest recently due to the efficacy of controlling a large number of…
The deployment of unmanned aerial vehicles (UAVs) is proliferating as they are effective, flexible and cost-efficient devices for a variety of applications ranging from natural disaster recovery to delivery of goods. We investigate a…