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Reliable communication in Micro Air Vehicle (MAV) swarms is challenging in environments, where conventional radio-based methods suffer from spectrum congestion, jamming, and high power consumption. Inspired by the waggle dance of honeybees,…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
Modern multi-domain networks now span over datacenter networks, enterprise networks, customer sites and mobile entities. Such networks are critical and, thus, must be resilient, scalable and easily extensible. The emergence of…
Inter-connected objects, either via public or private networks are the near future of modern societies. Such inter-connected objects are referred to as Internet-of-Things (IoT) and/or Cyber-Physical Systems (CPS). One example of such a…
Nowadays, Unmanned Aerial Vehicles (UAVs) have been significantly improved, and one of their most important applications is to provide temporary coverage for cellular users. Static Base Station cannot service all users due to temporary…
The rapidly increasing complexity of (mainly wireless) ad-hoc networks stresses the need of reliable distributed estimation of several variables of interest. The widely used centralized approach, in which the network nodes communicate their…
Wireless multi-hop ad hoc communication networks represent an infrastructure-less and self-organized generalization of todays wireless cellular networks. Connectivity within such a network is an important issue. Continuum percolation and…
Future mobile communication networks require an Aerial Base Station (ABS) with fast mobility and long-term hovering capabilities. At present, unmanned aerial vehicles (UAV) or drones do not have long flight times and are mainly used for…
Avionics systems of an Unmanned Aerial Vehicle (UAV) or drone are the critical electronic components found onboard that regulate, navigate, and control UAV travel while ensuring public safety. Contemporary UAV avionics work together to…
We propose a novel human-swarm interaction system, allowing the user to directly control a swarm of drones in a complex environment through trajectory drawing with a hand gesture interface based on the DNN-based gesture recognition. The…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
The vision-based relative localization can provide effective feedback for the cooperation of aerial swarm and has been widely investigated in previous works. However, the limited field of view (FOV) inherently restricts its performance. To…
Drone base stations can assist cellular networks in a variety of scenarios. To serve the maximum number of users in an area without apriori user distribution information, we proposed a two-stage algorithm to find the optimal deployment of…
This paper presents a data-driven approach to learning vision-based collective behavior from a simple flocking algorithm. We simulate a swarm of quadrotor drones and formulate the controller as a regression problem in which we generate 3D…
Consider a swarm of particles controlled by global inputs. This paper presents algorithms for shaping such swarms in 2D using boundary walls. The range of configurations created by conforming a swarm to a boundary wall is limited. We…
Abruptions to the communication infrastructure happens occasionally, where manual dedicated personnel will go out to fix the interruptions, restoring communication abilities. However, sometimes this can be dangerous to the personnel…
Swarms of autonomous surface vehicles equipped with environmental sensors and decentralized communications bring a new wave of attractive possibilities for the monitoring of dynamic features in oceans and other waterbodies. However, a key…
Robot swarms require cohesive collective behaviour to address diverse challenges, including shape formation and decision-making. Existing approaches often treat consensus in discrete and continuous decision spaces as distinct problems. We…
Collaborative Intrusion Detection Systems (CIDS) are increasingly adopted to counter cyberattacks, as their collaborative nature enables them to adapt to diverse scenarios across heterogeneous environments. As distributed critical…
Coordination of local and global aerial traffic has become a legal and technological bottleneck as the number of unmanned vehicles in the common airspace continues to grow. To meet this challenge, automation and decentralization of control…