Related papers: Robust Geospatial Coordination of Multi-Agent Comm…
In contrast to terrestrial wireless networks, dynamic Unmanned Aerial Vehicle (UAV) networks are susceptible to unexpected link failures arising from UAV breakdowns or the depletion of its batteries. Drastic user rate fluctuations and sum…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…
We present a framework for Multi-Robot Task Allocation (MRTA) in heterogeneous teams performing long-endurance missions in dynamic scenarios. Given the limited battery of robots, especially for aerial vehicles, we allow for robot recharges…
Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturbances and unpredicted phenomena in the environment where…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
This paper studies network resilience against structured additive perturbations to its topology. We consider dynamic networks modeled as linear time-invariant systems subject to perturbations of bounded energy satisfying specific sparsity…
This work explores the deployment of active reconfigurable intelligent surfaces (A-RIS) in integrated terrestrial and non-terrestrial networks (TN-NTN) while utilizing coordinated multipoint non-orthogonal multiple access (CoMP-NOMA). Our…
Mission-oriented drone networks have been widely used for structural inspection, disaster monitoring, border surveillance, etc. Due to the limited battery capacity of drones, mission execution strategy impacts network performance and…
This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with…
Many real-world problems, such as controlling swarms of drones and urban traffic, naturally lend themselves to modeling as multi-agent reinforcement learning (RL) problems. However, existing multi-agent RL methods often suffer from…
Cooperative autonomous robotic systems have significant potential for executing complex multi-task missions across space, air, ground, and maritime domains. But they commonly operate in remote, dynamic and hazardous environments, requiring…
Mobile power sources (MPSs) have been gradually deployed in microgrids as critical resources to coordinate with repair crews (RCs) towards resilience enhancement owing to their flexibility and mobility in handling the complex coupled…
This paper investigates the feasibility of human mobility in extreme urban morphologies characterized by high-density vertical structures and linear city layouts. To assess whether agents can navigate efficiently within such unprecedented…
Restoring power distribution systems after extreme events such as tornadoes presents significant logistical and computational challenges. The complexity arises from the need to coordinate multiple repair crews under uncertainty, manage…
This paper is concerned with the resource allocation in a multi-unmanned aerial vehicle (UAV)-aided network for providing enhanced mobile broadband (eMBB) services for user equipments. Different from most of the existing network resource…
Collaborative autonomous multi-agent systems covering a specified area have many potential applications, such as UAV search and rescue, forest fire fighting, and real-time high-resolution monitoring. Traditional approaches for such coverage…
Using Unmanned Aerial Vehicles (UAVs) in Search and rescue operations (SAR) to navigate challenging terrain while maintaining reliable communication with the cellular network is a promising approach. This paper suggests a novel technique…
Future wireless networks will need to improve adaptive resource allocation and decision-making to handle the increasing number of intelligent devices. Unmanned aerial vehicles (UAVs) are being explored for their potential in real-time…
Mobile multi-robot teams deployed for monitoring or search-and-rescue missions in urban disaster areas can greatly improve the quality of vital data collected on-site. Analysis of such data can identify hazards and save lives.…