Related papers: A Hybrid TDMA/CSMA Protocol for Time-Sensitive Tra…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
We formulate the problem of robots ferrying messages between statically-placed source and sink pairs that they can communicate with wirelessly. We first analyze the capacity region for this problem under both ideal (arbitrarily high…
As the automotive industry transitions toward centralized Linux-based architectures, ensuring the predictable execution of mixed-criticality applications becomes essential. However, concurrent use of the Linux network stack introduces…
This paper investigates a novel unmanned aerial vehicles (UAVs) secure communication system with the assistance of reconfigurable intelligent surfaces (RISs), where an UAV and a ground user communicate with each other, while an eavesdropper…
Trajectory prediction (TP) is crucial for ensuring safety and efficiency in modern air traffic management systems. It is, for example, a core component of conflict detection and resolution tools, arrival sequencing algorithms, capacity…
In recent years, the focus on developing robot manipulators has shifted towards prioritizing safety in Human-Robot Interaction (HRI). Impedance control is a typical approach for interaction control in collaboration tasks. However, such a…
Cognitive Radio Networks (CRN) have enabled us to efficiently reuse the underutilized radio spectrum. The MAC protocol in CRN defines the spectrum usage by sharing the channels efficiently among users. In this paper we propose a novel TDMA…
This paper investigates a new class of carrier-sense multiple access (CSMA) protocols that employ deep reinforcement learning (DRL) techniques, referred to as carrier-sense deep-reinforcement learning multiple access (CS-DLMA). The goal of…
The thesis is dedicated to studying methods to improve the efficiency of random access schemes and to facilitate their deployment in machine-type communications (MTC). First, a joint user activity identification and channel estimation…
Existing work that schedules concurrent transmissions collision-free suffers from low channel utilization. We propose the Optimal Node Activation Multiple Access (ONAMA) protocol to achieve maximal channel spatial reuse through a…
We describe a new synchronous and distributed medium access control (MAC) protocol for multihop wireless networks that provides bandwidth guarantees to unicast connections. Our MAC protocol is based on a slotted time division multiple…
As distributed machine learning (ML) workloads scale to thousands of GPUs connected by high-speed interconnects, tail latency in collective communication has become a major bottleneck. Existing RDMA transports, such as RoCE, IRN, SRNIC, and…
Multi-robot coordination is fundamental to various applications, including autonomous exploration, search and rescue, and cooperative transportation. This paper presents an optimal consensus framework for multi-robot systems (MRSs) that…
We present our current work-in-progress on the design and implementation of a hybrid TDMA/CSMA medium access architecture, hereafter referred to as hMAC, which can be used on top of commercial IEEE 802.11 off-the-shelf hardware. The…
Collisions with hidden terminals is a major cause of performance degradation in 802.11 and likewise wireless networks. Carrier sense multiple access with collision avoidance (CSMA/CA) is utilized to avoid collisions at the cost of spatial…
We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dynamic Vehicle Routing Problem (DVRP) and requires robots to…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
Industrial cyber-physical systems (CPS) have gained enormous attention of manufacturers in recent years due to their automation and cost reduction capabilities in the fourth industrial revolution (Industry 4.0). Such an industrial network…
With the ever-growing demand for low-latency services in machine-to-machine (M2M) communications, the delay performance of random access networks has become a primary concern, which critically depends on the sensing capability of nodes. To…
A new generation of robot systems which are modular, flexible and safe for human-robot interaction are needed. Existing cobots seem to meet only the later and require a modular approach to improve their reconfigurability and…