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Low earth orbit (LEO) satellites are a key technology to enable connectivity for rural and remote users. Communication satellites in LEO can provide coverage to much larger areas than terrestrial or aerial systems, while offering improved…
Grid maps, especially occupancy grid maps, are ubiquitous in many mobile robot applications. To simplify the process of learning the map, grid maps subdivide the world into a grid of cells whose occupancies are independently estimated using…
Smart City applications, such as traffic monitoring and disaster response, often use swarms of intelligent and cooperative drones to efficiently collect sensor data over different areas of interest and time spans. However, when the required…
Earth observation resources are becoming increasingly indispensable in disaster relief, damage assessment and related domains. Many unpredicted factors, such as the change of observation task requirements, to the occurring of bad weather…
Agile attitude maneuvering maximizes the utility of remote sensing satellite constellations. By taking into account a satellite's physical properties and its actuator specifications, we may leverage the full performance potential of the…
This work presents a decentralized allocation algorithm of safety-critical application on parallel computing architectures, where individual Computational Units can be affected by faults. The described method consists in representing the…
Spatial task allocation in systems such as multi-robot delivery or ride-sharing requires balancing efficiency with fair service across tasks. Greedy assignment policies that match each agent to its highest-preference or lowest-cost task can…
Robotic systems, working together as a team, are becoming valuable players in different real-world applications, from disaster response to warehouse fulfillment services. Centralized solutions for coordinating multi-robot teams often suffer…
In recent years, Unmanned Aerial Vehicles (UAVs) have been utilized as effective platforms for carrying Wi-Fi Access Points (APs) and cellular Base Stations (BSs), enabling low-cost, agile, and flexible wireless networks with high Quality…
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…
This paper considers the problem of task-dependent (top-down) attention allocation for vision-based autonomous navigation using known landmarks. Unlike the existing paradigm in which landmark selection is formulated as a combinatorial…
Recent breakthroughs in technology have led to a thriving "new space" culture in low-Earth orbit (LEO) in which performance and cost considerations dominate over resilience and reliability as mission goals. These advances create a manifold…
Advanced Air Mobility (AAM) introduces a new, efficient mode of transportation with the use of vehicle autonomy and electrified aircraft to provide increasingly autonomous transportation between previously underserved markets. Safe and…
Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires the objects both to…
Decentralized control of mobile robotic sensor networks is a fundamental problem in robotics that has attracted intensive research in recent decades. Most of the existing works dealt with two-dimensional spaces. This report is concerned…
As space becomes more congested, on orbit inspection is an increasingly relevant activity whether to observe a defunct satellite for planning repairs or to de-orbit it. However, the task of on orbit inspection itself is challenging,…
Classical consensus-based strategies for federated and decentralized learning are statistically suboptimal in the presence of heterogeneous local data or task distributions. As a result, in recent years, there has been growing interest in…
A scalable framework is developed to allocate radio resources across a large number of densely deployed small cells with given traffic statistics on a slow timescale. Joint user association and spectrum allocation is first formulated as a…
This paper considers the decentralized convex optimization problem, which has a wide range of applications in large-scale machine learning, sensor networks, and control theory. We propose novel algorithms that achieve optimal computation…
Function offloading is a promising solution to address limitations concerning computational capacity and available energy of Connected Automated Vehicles~(CAVs) or other autonomous robots by distributing computational tasks between local…