Related papers: Fast k-connectivity Restoration in Multi-Robot Sys…
We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…
Conventional methods, including Decision Tree (DT)-based methods, have been effective in scientific tasks, such as non-image medical diagnostics, system anomaly detection, and inorganic catalysis efficiency prediction. However, most…
This work examines the compressed sensor caching problem in wireless sensor networks and devises efficient distributed sparse data recovery algorithms to enable collaboration among multiple caches. In this problem, each cache is only…
Dynamic Connectivity is a fundamental algorithmic graph problem, motivated by a wide range of applications to social and communication networks and used as a building block in various other algorithms, such as the bi-connectivity and the…
In this paper, we study the multi-robot task allocation problem where a group of robots needs to be allocated to a set of tasks so that the tasks can be finished optimally. One task may need more than one robot to finish it. Therefore the…
This work presents Kinodynamic Adaptive Robot Coordination (K-ARC), a novel algorithm for multi-robot kinodynamic planning. Our experimental results show the capability of K-ARC to plan for up to 32 planar mobile robots, while achieving up…
The \emph{maximal $k$-edge-connected subgraphs} problem is a classical graph clustering problem studied since the 70's. Surprisingly, no non-trivial technique for this problem in weighted graphs is known: a very straightforward…
Vertex connectivity is a well-studied concept in graph theory with numerous applications. A graph is $k$-connected if it remains connected after removing any $k-1$ vertices. The vertex connectivity of a graph is the maximum $k$ such that…
Given a list of behaviors and associated parameterized controllers for solving different individual tasks, we study the problem of selecting an optimal sequence of coordinated behaviors in multi-robot systems for completing a given mission,…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
Quantum key distribution (QKD) is a promising technique for secure communication based on quantum mechanical principles. To improve the secure key rate of a QKD system, most studies on reconciliation primarily focused on improving the…
Our goal is to achieve a high degree of fault tolerance through the control of a safety critical systems. This reduces to solving a game between a malicious environment that injects failures and a controller who tries to establish a correct…
In real-world environments, robots need to be resilient to damages and robust to unforeseen scenarios. Quality-Diversity (QD) algorithms have been successfully used to make robots adapt to damages in seconds by leveraging a diverse set of…
This paper studies an uplink dual-functional sensing and communication system aided by a reconfigurable intelligent surface (RIS), whose reflection pattern is configured to trade-off sensing and communication functionalities. Specifically,…
As robots become increasingly prevalent in work-oriented collaborations, trust has emerged as a critical factor in their acceptance and effectiveness. However, trust is dynamic and can erode when mistakes are made. Despite emerging research…
A popular model to measure network stability is the $k$-core, that is the maximal induced subgraph in which every vertex has degree at least $k$. For example, $k$-cores are commonly used to model the unraveling phenomena in social networks.…
Efficient networking of many-robot systems is considered one of the grand challenges of robotics. In this article, we address the problem of achieving resilient, dynamic interconnection topologies in multi-robot systems. In scenarios in…
Mobile edge computing (MEC) deployment in a multi-robot cooperation (MRC) system is an effective way to accomplish the tasks in terms of energy consumption and implementation latency. However, the computation and communication resources…
The rapid evolution of Industry 4.0 has led to the emergence of smart factories, where multirobot system autonomously operates to enhance productivity, reduce operational costs, and improve system adaptability. However, maintaining reliable…
We study the k-route cut problem: given an undirected edge-weighted graph G=(V,E), a collection {(s_1,t_1),(s_2,t_2),...,(s_r,t_r)} of source-sink pairs, and an integer connectivity requirement k, the goal is to find a minimum-weight subset…