Related papers: DiRAC - Distributed Robot Awareness and Consensus
Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recently emerged to fill the gap in terms of hybrid systems…
In this paper, we introduce a novel adaptation of the Raft consensus algorithm for achieving emergent formation control in multi-agent systems with a single integrator dynamics. This strategy, dubbed "Rafting," enables robust cooperation…
Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constrained communication steps. In the context of robotics,…
In autonomous robotics, a critical challenge lies in developing robust solutions for Active Collaborative SLAM, wherein multiple robots collaboratively explore and map an unknown environment while intelligently coordinating their movements…
This paper introduces the distributed and intelligent integrated sensing and communications (DISAC) concept, a transformative approach for 6G wireless networks that extends the emerging concept of integrated sensing and communications…
We introduce a novel distributed source seeking framework, DIAS, designed for multi-robot systems in scenarios where the number of sources is unknown and potentially exceeds the number of robots. Traditional robotic source seeking methods…
Integrated sensing and communication (ISAC) system has been envisioned as a promising technology to be applied in future applications requiring both communication and high-accuracy sensing. Different from most research focusing on…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
In this paper, we present Asynchronous implementation of Deep Neural Network-based Model Reference Adaptive Control (DMRAC). We evaluate this new neuro-adaptive control architecture through flight tests on a small quadcopter. We demonstrate…
A novel Distributed Spectrum-Aware Clustering (DSAC) scheme is proposed in the context of Cognitive Radio Sensor Networks (CRSN). DSAC aims at forming energy efficient clusters in a self-organized fashion while restricting interference to…
The Area Under the ROC Curve (AUC) is a widely employed metric in long-tailed classification scenarios. Nevertheless, most existing methods primarily assume that training and testing examples are drawn i.i.d. from the same distribution,…
We present a novel reinforcement learning (RL) based task allocation and decentralized navigation algorithm for mobile robots in warehouse environments. Our approach is designed for scenarios in which multiple robots are used to perform…
Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…
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…
This paper proposes a novel safety specification tool, called the distributionally robust risk map (DR-risk map), for a mobile robot operating in a learning-enabled environment. Given the robot's position, the map aims to reliably assess…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
This paper introduces RobotIQ, a framework that empowers mobile robots with human-level planning capabilities, enabling seamless communication via natural language instructions through any Large Language Model. The proposed framework is…
The envisioned robotic aerial base station (RABS) concept is expected to bring further flexibility to integrated sensing and communication (ISAC) systems. In this letter, characterizing the spatial traffic distribution on a grid-based…
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…