Related papers: Bio-inspired Integrated Networking and Control for…
Flying Ad Hoc Networks (FANETs) present unique challenges due to high node mobility, dynamic topologies, and strict resource constraints. Existing routing protocols often optimize for a single metric, such as path length or energy, while…
Wireless resource allocation in digital-twin-enabled unmanned aerial vehicle (UAV) swarms must be both network-feasible and certifiably safe for closed-loop control. Existing packet-level or scalar-priority schedulers cannot meaningfully…
This paper presents a novel control method for a group of UAVs in obstacle-laden environments while preserving sensing network connectivity without data transmission between the UAVs. By leveraging constraints rooted in control barrier…
Drones are embedded systems (ES) used across a wide range of fields, from photography to shipments and even during crisis management for searching, rescuing and damage assessment activities. However, their limited battery life and high…
In this paper, we study the problem of gathering data from large-scale wireless sensor networks using multiple unmanned air vehicles (UAVs) to gather data at designated rendezvouses, where the goal is to maximize the network lifetime.…
Cyborg insects refer to hybrid robots that integrate living insects with miniature electronic controllers to enable robotic-like programmable control. These creatures exhibit advantages over conventional robots in adaption to complex…
Flying insects are capable of vision-based navigation in cluttered environments, reliably avoiding obstacles through fast and agile maneuvers, while being very efficient in the processing of visual stimuli. Meanwhile, autonomous micro air…
Swarm and field robotics face significant barriers to real-world validation due to the high cost and development time to deploy hardware. This paper introduces the ``Bionic Swarm,'' a novel system that lowers these barriers by abstracting…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
Unmanned Aerial Vehicle (UAV) swarms adoption shows a steady growth among operators due to the benefits in time and cost arisen from their use. However, this kind of system faces an important problem which is the calculation of many optimal…
Unmanned aerial vehicle (UAV) swarm has emerged as a promising novel paradigm to achieve better coverage and higher capacity for future wireless network by exploiting the more favorable line-of-sight (LoS) propagation. To reap the potential…
We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and…
Airborne mobile Integrated Sensing and Communication (ISAC) base stations have garnered significant attention recently, with ISAC technology being a crucial application for 6G networks. Since ISAC can sense potential mobile communication…
The problem of robotic synchronisation and coordination is a long-standing one. Combining autonomous, computerised systems with unpredictable real-world conditions can have consequences ranging from poor performance to collisions and…
This paper tackles the problem of positioning a swarm of UAVs inside a completely unknown terrain, having as objective to maximize the overall situational awareness. The situational awareness is expressed by the number and quality of unique…
Highway on-ramp merging areas are common bottlenecks to traffic congestion and accidents. Currently, a cooperative control strategy based on connected and automated vehicles (CAVs) is a fundamental solution to this problem. While CAVs are…
An integrated access and backhaul (IAB) network architecture can enable flexible and fast deployment of next-generation cellular networks. However, mutual interference between access and backhaul links, small inter-site distance and spatial…
Uncrewed aerial vehicles (UAVs) are increasingly deployed in complex networked environments, yet the joint optimization of multi-UAV motion control and connectivity remains a fundamental challenge. In this paper, we study a multi-UAV system…
Unmanned Aerial Vehicles (UAVs) hold great potential to support a wide range of applications due to the high maneuverability and flexibility. Compared with single UAV, UAV swarm carries out tasks efficiently in harsh environment, where the…
Achieving scalable coordination in large robotic swarms is often constrained by reliance on inter-agent communication, which introduces latency, bandwidth limitations, and vulnerability to failure. To address this gap, a decentralized…