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Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
This paper investigates optimal scheduling for a cognitive multi-hop underwater acoustic network with a primary user interference constraint. The network consists of primary and secondary users, with multi-hop transmission adopted for both…
This paper presents a Micro-Unmanned Aerial Vehicle (UAV)-enhanced content management system for disaster scenarios where communication infrastructure is generally compromised. Utilizing a hybrid network of stationary and mobile Micro-UAVs,…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
The multi-objective coverage control problem requires a robot swarm to collaboratively provide sensor coverage to multiple heterogeneous importance density fields IDFs simultaneously. We pose this as an optimization problem with constraints…
Intelligent reflecting surface (IRS) is an emerging technology to enhance the spectral and energy efficiency of wireless communications cost-effectively. This letter considers a new multi-IRS aided wireless network where a cascaded…
This paper investigates task-oriented communication for multi-device cooperative edge inference, where a group of distributed low-end edge devices transmit the extracted features of local samples to a powerful edge server for inference.…
We study asynchronous distributed decision-making for scalable multi-agent bandit submodular maximization. We are motivated by distributed information-gathering tasks in unknown environments and under heterogeneous inter-agent communication…
Communication is one of the core components for cooperative multi-agent reinforcement learning (MARL). The communication bandwidth, in many real applications, is always subject to certain constraints. To improve communication efficiency, in…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…
Prior studies on intelligent reflecting surface (IRS) have mostly considered wireless communication systems aided by a single passive IRS, which, however, has limited control over wireless propagation environment and suffers severe…
We consider the problem of resource allocation and control of multihop networks in which multiple source-destination pairs communicate confidential messages, to be kept confidential from the intermediate nodes. We pose the problem as that…
Mission critical data dissemination in massive Internet of things (IoT) networks imposes constraints on the message transfer delay between devices. Due to low power and communication range of IoT devices, data is foreseen to be relayed over…
In closed-loop distributed multi-sensor integrated sensing and communication (ISAC) systems, performance often hinges on transmitting high-dimensional sensor observations over rate-limited networks. In this paper, we first present a general…
Unmanned Aerial Vehicle (UAV) systems are being increasingly used in a broad range of scenarios and applications. However, their deployment in urban areas poses important technical challenges. One of the most prominent concerns is the…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…
In this paper, an indoor robot navigation system is investigated, where an intelligent reflecting surface (IRS) is employed to enhance the connectivity between the access point (AP) and robotic users. Both single-user and multiple-user…
Collaborative Perception (CP) has shown great potential to achieve more holistic and reliable environmental perception in intelligent unmanned systems (IUSs). However, implementing CP still faces key challenges due to the characteristics of…