Related papers: A generic approach for reactive stateful mitigatio…
This paper proposes a novel approach to resilient distributed optimization with quadratic costs in a networked control system (e.g., wireless sensor network, power grid, robotic team) prone to external attacks (e.g., hacking, power outage)…
Multi-agent and multi-robot systems (MRS) often rely on direct communication for information sharing. This work explores an alternative approach inspired by eavesdropping mechanisms in nature that involves casual observation of agent…
Edge computing decentralizes computing resources, allowing for novel applications in domains such as the Internet of Things (IoT) in healthcare and agriculture by reducing latency and improving performance. This decentralization is achieved…
Collaborative robots are becoming part of intelligent automation systems in modern industry. Development and control of such systems differs from traditional automation methods and consequently leads to new challenges. Thankfully, Robot…
Utilizing unmanned aerial vehicles (UAVs) with edge server to assist terrestrial mobile edge computing (MEC) has attracted tremendous attention. Nevertheless, state-of-the-art schemes based on deterministic optimizations or single-objective…
In this paper, we introduce ChoiRbot, a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a fully-functional toolset to execute complex distributed multi-robot tasks, either in…
We propose a framework for resilience in a networked heterogeneous multi-robot team subject to resource failures. Each robot in the team is equipped with resources that it shares with its neighbors. Additionally, each robot in the team…
The development of collective-aware multi-robot systems is crucial for enhancing the efficiency and robustness of robotic applications in multiple fields. These systems enable collaboration, coordination, and resource sharing among robots,…
This research proposes a distributed switching control to secure multi-robot systems in the presence of cyberattacks. Two major types of cyberattack are considered: deception attack and denial of service (DoS) attack, which compromise the…
We introduce Context Kubernetes, an architecture for orchestrating enterprise knowledge in agentic AI systems, with a prototype implementation and eight experiments. The core observation is that delivering the right knowledge, to the right…
The increasing complexity and interconnectivity of digital infrastructures make scalable and reliable security assessment methods essential. Robotic systems represent a particularly important class of operational technology, as modern…
The transmission grid is often comprised of several control areas that are connected by multiple tie lines in a mesh structure for reliability. It is also well-known that line failures can propagate non-locally and redundancy can exacerbate…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians. Various navigation solutions have been proposed, though few as widely adopted as ROS Navigation. 10…
Distributed real-time and embedded (DRE) systems executing mixed criticality task sets are increasingly being deployed in mobile and embedded cloud computing platforms, including space applications. These DRE systems must not only operate…
Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
This paper focuses on an online version of the emerging distributed constrained aggregative optimization framework, which is particularly suited for applications arising in cooperative robotics. Agents in a network want to minimize the sum…
Behavior Trees (BTs) offer a powerful paradigm for designing modular and reactive robot controllers. BT planning, an emerging field, provides theoretical guarantees for the automated generation of reliable BTs. However, BT planning…
This paper addresses the problem of Multi-robot Coverage Path Planning (MCPP) for unknown environments in the presence of robot failures. Unexpected robot failures can seriously degrade the performance of a robot team and in extreme cases…