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Swarm robotic trajectory planning faces challenges in computational efficiency, scalability, and safety, particularly in complex, obstacle-dense environments. To address these issues, we propose SwarmDiff, a hierarchical and scalable…
With the ever-increasing range of applications of Internet in Things (IoT) and sensor networks, challenges are emerging in various categories of classification tasks. Applications such as vehicular networking, UAV swarm coordination and…
This paper addresses the problem of target detection and localisation in a limited area using multiple coordinated agents. The swarm of Unmanned Aerial Vehicles (UAVs) determines the position of the dispersion of stack effluents to a gas…
Distributed optimization offers a promising paradigm for trajectory planning in Unmanned Aerial Vehicle (UAV) swarms, yet its deployment in communication-constrained environments remains challenging due to unreliable links and limited data…
In this paper, we design algorithms to protect swarm-robotics applications against sensor denial-of-service (DoS) attacks on robots. We focus on applications requiring the robots to jointly select actions, e.g., which trajectory to follow,…
Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…
This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target under half-duplex operation. The area of interest,…
Network slicing has been considered as one of the key enablers for 5G to support diversified services and application scenarios. This paper studies the distributed network slicing utilizing both the spectrum resource offered by…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
Distributed computing platforms provide a robust mechanism to perform large-scale computations by splitting the task and data among multiple locations, possibly located thousands of miles apart geographically. Although such distribution of…
With an extensive increment of computation demands, the aerial multi-access edge computing (MEC), mainly based on unmanned aerial vehicles (UAVs) and high altitude platforms (HAPs), plays significant roles in future network scenarios. In…
Unmanned Aerial Vehicles (UAVs) have attracted great interest in the last few years owing to their ability to cover large areas and access difficult and hazardous target zones, which is not the case of traditional systems relying on direct…
In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength…
Unmanned aerial vehicle (UAV) swarms are increasingly deployed in vast low-altitude applications, owing to their capabilities in distributed sensing, flexible communication, and autonomous coordination. Nevertheless, the open and highly…
This paper proposes a novel mission planning platform, capable of efficiently deploying a team of UAVs to cover complex-shaped areas, in various remote sensing applications. Under the hood lies a novel optimization scheme for grid-based…
Clustering techniques are very attractive for extracting and identifying patterns in datasets. However, their application to very large spatial datasets presents numerous challenges such as high-dimensionality data, heterogeneity, and high…
Unmanned Aerial Vehicles (UAVs) are increasingly adopted in modern communication networks. However, challenges in decision-making and digital modeling continue to impede their rapid advancement. Reinforcement Learning (RL) algorithms face…
Unmanned aerial vehicle (UAV) network is a promising technology for assisting Internet-of-Things (IoT), where a UAV can use its limited service coverage to harvest and disseminate data from IoT devices with low transmission abilities. The…
The increasing demand for data usage in wireless communications requires using wider bands in the spectrum, especially for backhaul links. Yet, allocations in the spectrum for non-communication systems inhibit merging bands to achieve wider…
Recently, Unmanned Aerial Vehicles (UAVs) have shown impressive performance in many critical applications, such as surveillance, search and rescue operations, environmental monitoring, etc. In many of these applications, the UAVs capture…