Related papers: A Hybrid TDMA/CSMA Protocol for Time-Sensitive Tra…
This paper addresses the challenge of efficient rendezvous in multihop cognitive radio networks, where existing channel-hopping algorithms designed for single-hop scenarios incur increased delay and coordination inefficiencies in multinode…
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)…
Robotic middleware serves as the foundational infrastructure, enabling complex robotic systems to operate in a coordinated and modular manner. In data-intensive robotic applications, especially in industrial scenarios, communication…
When, in addition to stability, position synchronization is also desired in bilateral teleoperation, Time Domain Passivity Approach (TDPA) alone might not be able to fulfill the desired objective. This is due to an undesired effect caused…
Unmanned Aerial Vehicles (UAVs), commonly known as drones, have experienced expanding use in urban environments in recent years. However, the growing density of drones raises significant challenges, such as avoiding collisions and managing…
The existing distributed TDMA-scheduling techniques can be classified as either static or dynamic. The primary purpose of static TDMA-scheduling algorithms is to improve the channel utilization by generating a schedule of shorter length.…
Sidewalk delivery robots are a promising solution for last-mile freight distribution. Yet, they operate in dynamic environments characterized by pedestrian flows and potential obstacles, which make travel times highly uncertain and can…
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…
This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…
Autonomous navigation requires robots to generate trajectories for collision avoidance efficiently. Although plenty of previous works have proven successful in generating smooth and spatially collision-free trajectories, their solutions…
Multi-modal behaviors exhibited by surrounding vehicles (SVs) can typically lead to traffic congestion and reduce the travel efficiency of autonomous vehicles (AVs) in dense traffic. This paper proposes a real-time parallel trajectory…
Robot Operating System (ROS) 2 is a ground-up re-design of ROS 1 to support performance critical cyber-physical systems (CPSs) using the Data Distribution Service (DDS) middleware. Accordingly, the security of ROS 2 is highly reliant on the…
In this paper, we propose a novel adaptive carrier sense multiple access scheme with collision avoidance (CSMA/CA) to perform efficient and reliable data transfer with increased throughput across multiple coexisting wireless body area…
The Robot Operating System (ROS) pubsub model played a pivotal role in developing sophisticated robotic applications. However, the complexities and real-time demands of modern robotics necessitate more efficient communication solutions that…
Vehicular communication systems have been an active subject of research for many years and are important technologies in the 5G and the post-5G era. One important use case is platooning which is seemingly the first step towards fully…
Autonomous drone fleets have immense potential in medical supply delivery during disaster incident response. However, coordinating multiple drones in such settings introduces compounding challenges: dynamic environmental hazards such as…
We analytically study a carrier sense multiple access (CSMA)-based network. In the network, the nodes have their own average throughput demands for transmission to a common base station. The CSMA is based on the request-to-send…
Safe robot motion generation is critical for practical applications from manufacturing to homes. In this work, we proposed a stochastic optimization-based motion generation method to generate collision-free and time-optimal motion for the…
In this paper, we propose an intermittent communication framework for mobile robot networks. Specifically, we consider robots that move along the edges of a connected mobility graph and communicate only when they meet at the nodes of that…
In today's WLANs, scheduling of packet transmissions solely relies on the collision and success a station may experience. To better support traffic differentiation in dense WLANs, in this paper, we propose a distributed reservation…