Related papers: Path Planning and Task Assignment for Data Retriev…
In this paper, we consider simultaneous wireless information and power transfer (SWIPT) in relay interference channels, where multiple source-destination pairs communicate through their dedicated energy harvesting relays. Each relay needs…
The problem of attaining energy efficiency in distributed systems is of importance, but a general, non-domain-specific theory of energy-minimal scheduling is far from developed. In this paper, we classify the problems of energy-minimal…
In this paper, we introduce a game theoretic framework for studying the problem of minimizing the completion time of instantly decodable network coding (IDNC) for cooperative data exchange (CDE) in decentralized wireless network. In this…
In this paper we investigate the problem of gathering the data in wireless sensor network using a single Mobile Element. In particular we consider the case where the data are produced by measurements and they need to be delivered to a…
A Differential Drive Robot (DDR) located inside a circular detection region in the plane wants to escape from it in minimum time. Various robotics applications can be modeled like the previous problem, such as a DDR escaping as soon as…
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
This paper considers max-min fair rate allocation and routing in energy harvesting networks where fairness is required among both the nodes and the time slots. Unlike most previous work on fairness, we focus on multihop topologies and…
This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…
In multi-robot informative path planning the problem is to find a route for each robot in a team to visit a set of locations that can provide the most useful data to reconstruct an unknown scalar field. In the budgeted version, each robot…
For Industrial Wireless Sensor Networks, it is essential to reliably sense and deliver the environmental data on time to avoid system malfunction. While energy harvesting is a promising technique to extend the lifetime of sensor nodes, it…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
Routing in Software-Defined Wireless sensor networks (SD-WSNs) can be either single or multi-hop, whereas the network is either static or dynamic. In static SD-WSN, the selection of the optimum route from source to destination is…
The Internet of Things requires intelligent decision making in many scenarios. To this end, resources available at the individual nodes for sensing or computing, or both, can be leveraged. This results in approaches known as participatory…
We investigate the problem of energy-constrained planning for a cooperative system of an Unmanned Ground Vehicles (UGV) and an Unmanned Aerial Vehicle (UAV). In scenarios where the UGV serves as a mobile base to ferry the UAV and as a…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
Many Imitation and Reinforcement Learning approaches rely on the availability of expert-generated demonstrations for learning policies or value functions from data. Obtaining a reliable distribution of trajectories from motion planners is…
An Optimal Transport (OT)-based decentralized collaborative multi-robot exploration strategy is proposed in this paper. This method is to achieve an efficient exploration with a predefined priority in the given domain. In this context, the…
In this paper we study time-dependent scheduling problems where activities consume a resource with limited availability. Activity durations as well as resource consumptions are assumed to be time-dependent and the resource can be…
The main objective of this paper is to reduce the number of sensor nodes by estimating a trade off between data accuracy and energy consumption for selecting nodes in probabilistic approach in distributed networks. Design…
In industrial Internet environments, mobile robots must generate collision-free global routes under stochastic obstacle layouts and random perturbations in commanded linear and angular velocities. This paper models a differential-drive…