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Connected and automated vehicles (CAVs) have a great potential to improve traffic efficiency in mixed traffic systems, which has been demonstrated by multiple numerical simulations and field experiments. However, some fundamental properties…
Wireless mobile sensor networks (WMSNs) are groups of mobile sensing agents with multi-modal sensing capabilities that communicate over wireless networks. WMSNs have more flexibility in terms of deployment and exploration abilities over…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
This work investigates a collaborative sensing and data collection system in which multiple unmanned aerial vehicles (UAVs) sense an area of interest and transmit images to a cloud server (CS) for processing. To accelerate the completion of…
Vehicles provide an ideal platform for urban sensing applications, as they can be equipped with all kinds of sensing devices that can continuously monitor the environment around the travelling vehicle. In this work we are particularly…
A crucial issue for a mobile ad hoc network is the handling of a large number of nodes. As more nodes join the mobile ad hoc network, contention and congestion are more likely. The on demand routing protocols which broadcasts control…
A flooding attack in wireless sensor networks is a type of threat that shortens the lifetimes of the sensor networks. Although flooding attack prevention techniques have been proposed, if a continuous flooding attack occurs, the sensor node…
This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous…
Autonomous vehicles are suited for continuous area patrolling problems. However, finding an optimal patrolling strategy can be challenging for many reasons. Firstly, patrolling environments are often complex and can include unknown…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
Multiview systems have become a key technology in modern computer vision, offering advanced capabilities in scene understanding and analysis. However, these systems face critical challenges in bandwidth limitations and computational…
Conventional control of fluid systems does not consider system-wide knowledge for optimising energy efficient operation. Distributed control of fluid systems combines reliable local control of components while using system-wide cooperation…
Large-scale environmental sensing with a finite number of mobile sensors is a challenging task that requires a lot of resources and time. This is especially true when features in the environment are spatiotemporally changing with unknown or…
Smart City applications, such as traffic monitoring and disaster response, often use swarms of intelligent and cooperative drones to efficiently collect sensor data over different areas of interest and time spans. However, when the required…
Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned…
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from two multi-lane roads and merging at multiple points where the objective is to jointly minimize the travel time and energy consumption of…
Existing data collection methods for traffic operations and control usually rely on infrastructure-based loop detectors or probe vehicle trajectories. Connected and automated vehicles (CAVs) not only can report data about themselves but…
We propose a distributed planning method with asynchronous execution for multi-agent pickup and delivery (MAPD) problems for environments with occasional delays in agents' activities and flexible endpoints. MAPD is a crucial problem…
Cooperative autonomous driving plays a pivotal role in improving road capacity and safety within intelligent transportation systems, particularly through the deployment of autonomous vehicles on urban streets. By enabling vehicle-to-vehicle…