Related papers: Consensus Based Task Allocation for Angles-Only Lo…
We investigate a scenario where a chaser spacecraft or satellite equipped with a monocular camera navigates in close proximity to a target spacecraft. The satellite's primary objective is to construct a representation of the operational…
We study the problem of sensor placement in environments in which localization is a necessity, such as ad-hoc wireless sensor networks that allow the placement of a few anchors that know their location or sensor arrays that are tracking a…
Two of the main challenges for cropland classification by satellite time-series images are insufficient ground-truth data and inaccessibility of high-quality hyperspectral images for under-developed areas. Unlabeled medium-resolution…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
One of the major challenges in the coordination of large, open, collaborative, and commercial vehicle fleets is dynamic task allocation. Self-concerned individually rational vehicle drivers have both local and global objectives, which…
Being able to provide latency guarantees for orbital edge computing applications through Low Earth Orbit (LEO) satellite constellations is a major milestone for their integration into 5G and 6G networks. However, achieving this is…
We present a fully integrated autonomous multi- robot aerial system for finding and collecting moving and static objects with unknown locations. This task addresses multiple relevant problems in search and rescue (SAR) robotics such as…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
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…
We consider a remote estimation problem with an energy harvesting sensor and a remote estimator. The sensor observes the state of a discrete-time source which may be a finite state Markov chain or a multi-dimensional linear Gaussian system.…
We introduce a multi-sensor navigation system for autonomous surface vessels (ASV) intended for water-quality monitoring in freshwater lakes. Our mission planner uses satellite imagery as a prior map, formulating offline a mission-level…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…
We consider the problem of classifying a map using a team of communicating robots. It is assumed that all robots have localized visual sensing capabilities and can exchange their information with neighboring robots. Using a graph…
This paper presents an algorithm for a team of mobile robots to simultaneously learn a spatial field over a domain and spatially distribute themselves to optimally cover it. Drawing from previous approaches that estimate the spatial field…
This work applies a quantitative metric well-known to the data assimilation community to a new context in order to capture the relative representativeness of non-simultaneous or non-co-located observations and quantify how these…
The integration of Low Earth Orbit (LEO) satellite constellations into 5G and Beyond is essential to achieve efficient global connectivity. As LEO satellites are a global infrastructure with predictable dynamics, a pre-planned fair and…
Advances in space exploration have led to an explosion of tasks. Conventionally, these tasks are offloaded to ground servers for enhanced computing capability, or to adjacent low-earth-orbit satellites for reduced transmission delay.…
The rapid advance of mega-constellation facilitates the booming of direct-to-satellite massive access, where multi-user detection is critical to alleviate the induced inter-user interference. While centralized implementation of on-board…
This paper proposes a maintenance strategy for a satellite constellation that utilizes on-orbit servicing (OOS). Under this strategy, the constellation operator addresses satellite failures in two ways: by deploying new satellites and by…