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We consider a scenario where an UAV-mounted flying base station is providing data communication services to a number of radio nodes spread over the ground. We focus on the problem of resource-constrained UAV trajectory design with (i)…
Unmanned aerial vehicles (UAVs) are developing rapidly owing to flexible deployment and access services as air base stations. However, the channel errors of low-altitude communication links formed by mobile deployment of UAVs cannot be…
Distributed optimization offers a promising paradigm for trajectory planning in Unmanned Aerial Vehicle (UAV) swarms, yet its deployment in communication-constrained environments remains challenging due to unreliable links and limited data…
A high order optimal control strategy implemented in the Koopman operator framework is proposed in this work. The new technique exploits the Koopman representation of the solution of the equations of motion to develop an energy optimal…
In this paper, we consider a network of processors aiming at cooperatively solving mixed-integer convex programs subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
We study a class of cooperative multi-agent optimization problems, where each agent is associated with a local action vector and a local cost, and the goal is to cooperatively find the joint action profile that minimizes the average of the…
In this paper, we investigate an unmanned aerial vehicle (UAV)-enabled secure communication scenario that a cluster of UAVs performs a virtual non-uniform linear array (NULA) to communicate with a base station (BS) in the presence of…
Many problems of interest for cyber-physical network systems can be formulated as Mixed-Integer Linear Programs in which the constraints are distributed among the agents. In this paper we propose a distributed algorithmic framework to solve…
This paper investigates the secrecy energy efficiency (SEE) maximization problem for unmanned aerial vehicle enabled mobile relaying system, where a high-mobility UAV is exploited to assist delivering the confidential information from a…
Distributed multi-task learning (DMTL) effectively improves model generalization performance through the collaborative training of multiple related models. However, in large-scale learning scenarios, communication bottlenecks severely limit…
In this paper we study energy efficient joint power allocation and beamforming for coordinated multicell multiuser downlink systems. The considered optimization problem is in a non-convex fractional form and hard to tackle. We propose to…
The paper addresses large-scale, convex optimization problems that need to be solved in a distributed way by agents communicating according to a random time-varying graph. Specifically, the goal of the network is to minimize the sum of…
In this paper, we study the trajectory and resource allocation design for downlink energy-efficient secure unmanned aerial vehicle (UAV) communication systems, where an information UAV assisted by a multi-antenna jammer UAV serves multiple…
We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to…
This paper considers secure communication in a multiuser multiple-input single-output (MISO) downlink system with simultaneous wireless information and power transfer. We study the design of resource allocation algorithms minimizing the…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
Learning-based control algorithms require data collection with abundant supervision for training. Safe exploration algorithms ensure the safety of this data collection process even when only partial knowledge is available. We present a new…
This paper investigates full-duplex unmanned aerial vehicle (UAV) aided small cell wireless systems, where the UAV serving as the base station (BS) is designed to transmit data to the downlink users and receive data from the uplink users…
We study the problem of minimizing the sum of potentially non-differentiable convex cost functions with partially overlapping dependences in an asynchronous manner, where communication in the network is not coordinated. We study the…
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…