Related papers: WiSER-X: Wireless Signals-based Efficient Decentra…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Cooperation between the nodes of wireless multihop networks can increase communication reliability, reduce energy consumption, and decrease latency. The possible improvements are even greater when nodes perform mutual information…
Autonomous robots operating in indoor and GPS denied environments can use LiDAR for SLAM instead. However, LiDARs do not perform well in geometrically-degraded environments, due to the challenge of loop closure detection and computational…
To support future spatial machine intelligence applications, lifelong simultaneous localization and mapping (SLAM) has drawn significant attentions. SLAM is usually realized based on various types of mobile robots performing simultaneous…
It has been shown that the channel state information (CSI) of a Wi-Fi system can be exploited to localize Wi-Fi devices or track trajectory of a moving target. In the existing literature, both sensing tasks are treated separately and some…
Reinforcement Learning is gaining attention by the wireless networking community due to its potential to learn good-performing configurations only from the observed results. In this work we propose a stateless variation of Q-learning, which…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
Simultaneous wireless information and power transfer (SWIPT) provides a promising solution for enabling perpetual wireless networks. As energy efficiency (EE) is an im- portant evaluation of system performance, this thesis studies…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…
In this work, we analyze the advantages of multi-hop data fragmentation in unattended wireless sensor networks (UWSN) and propose a lightweight protocol to achieve it. UWSN has recently become an important aspect in various areas of sensor…
Multi-robot patrolling is the potential application for robotic systems to survey wide areas efficiently without human burdens and mistakes. However, such systems have few examples of real-world applications due to their lack of human…
In our prior work, we outlined an approach, named DisCoF, for cooperative pathfinding in distributed systems with limited sensing and communication range. Contrasting to prior works on cooperative pathfinding with completeness guarantees,…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
We consider the problem of sensor localization in a wireless network in a multipath environment, where time and angle of arrival information are available at each sensor. We propose a distributed algorithm based on belief propagation, which…
In this paper, we consider the problem of collectively exploring unknown and dynamic environments with a decentralized heterogeneous multi-robot system consisting of multiple units of two variants of a miniature robot. The first variant-a…
Efficient exploration and mapping in unknown indoor environments is a fundamental challenge, with high stakes in time-critical settings. In current systems, robot perception remains confined to line-of-sight; occluded regions remain unknown…
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…
Recent years have witnessed the rapid proliferation of backscatter technologies that realize the ubiquitous and long-term connectivity to empower smart cities and smart homes. Localizing such backscatter tags is crucial for IoT-based smart…
Effective resource allocation in sensor networks, IoT systems, and distributed computing is essential for applications such as environmental monitoring, surveillance, and smart infrastructure. Sensors or agents must optimize their resource…