Related papers: A Hybrid TDMA/CSMA Protocol for Time-Sensitive Tra…
Robots operating in human-centric environments must be both robust to disturbances and provably safe from collisions. Achieving these properties simultaneously and efficiently remains a central challenge. While Dynamic Movement Primitives…
Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
As modern AI workloads increasingly rely on heterogeneous accelerators, ensuring high-bandwidth and layout-flexible data movements between accelerator memories has become a pressing challenge. Direct Memory Access (DMA) engines promise high…
In this paper, we investigate unmanned aerial vehicle (UAV) assisted communication systems that require quasi-balanced data rates in uplink (UL) and downlink (DL), as well as users' heterogeneous traffic. To the best of our knowledge, this…
Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…
Path planning for a robot is one of the major problems in the area of robotics. When a robot is given a task in the form of a Linear Temporal Logic (LTL) specification such that the task needs to be carried out repetitively, we want the…
This paper presents a computationally lightweight and robust control framework for differential-drive mobile robots with dynamic uncertainties and external disturbances, guaranteeing the satisfaction of Temporal Reach-Avoid-Stay (T-RAS)…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
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.…
The vehicular ad-hoc network (VANET) based on dedicated short-range communication (DSRC) is a distributed communication system, in which all the nodes share the wireless channel with carrier sense multiple access/collision avoid (CSMA/CA)…
In a densely deployed distributed wireless network, there may be various types of traffic with differentiated Quality of Service (QoS) requirements. However, when the network is heavily loaded, the collision increases significantly, making…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
Many modern wireless networks integrate carrier sense mul-tiple access/collision avoidance (CSMA/CA) with exponential backoff as medium access control (MAC) technique. In order to decrease the MAC overhead and the collision probability, we…
High-mobility scenarios are becoming increasingly critical in next-generation communication systems. While multiple-input multiple-output orthogonal frequency division multiplexing (MIMO-OFDM) stands as a prominent technology, its…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
Time splitting and power splitting incorporating, a hybrid Simultaneous Wireless Information and Power Transfer (SWIPT) based cooperative Non-Orthogonal Multiple Access (CNOMA) protocol is considered in this paper. Cell center user of the…
High throughput satellites (HTSs) outpace traditional satellites due to their multi-beam transmission. The rise of low Earth orbit mega constellations amplifies HTS data rate demands to terabits/second with acceptable latency. This surge in…
This paper provides proofs of the rate stability, Harris recurrence, and epsilon-optimality of CSMA algorithms where the backoff parameter of each node is based on its backlog. These algorithms require only local information and are easy to…
Multi-Robot Task Allocation (MRTA) is a problem that arises in many application domains including package delivery, warehouse robotics, and healthcare. In this work, we consider the problem of MRTA for a dynamic stream of tasks with task…