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In many applications of autonomous mobile robots the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To benefit from all available information…
In recent years, unmanned aerial vehicles (UAVs) assisted mobile edge computing systems have been exploited by researchers as a promising solution for providing computation services to mobile users outside of terrestrial infrastructure…
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…
Unlike in terrestrial cellular networks, certain frequency bands for low-earth orbit (LEO) satellite systems have thus far been allocated on a non-exclusive basis. In this context, systems that launch their satellites earlier (referred to…
This paper presents a scalable Bayesian technique for decentralized state estimation from multiple platforms in dynamic environments. As has long been recognized, centralized architectures impose severe scaling limitations for distributed…
Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…
In real-time and high-resolution Earth observation imagery, Low Earth Orbit (LEO) satellites capture images that are subsequently transmitted to ground to create an updated map of an area of interest. Such maps provide valuable information…
Low earth orbit (LEO) satellite networks are emerging as a key infrastructure for global connectivity and space-based sensing. Many tasks in such systems can be formulated as measurement-set-to-spatial-inference problems, where spatial…
The recent growing trend to develop large-scale satellite constellations (i.e., mega-constellation) with low-cost small satellites has brought the need for an efficient and scalable maintenance strategy decision plan. Traditional spare…
Given the critical roles that satellites play in national defense, public safety, and worldwide communications, finding ways to determine satellite trajectories is a crucially important task for improved space situational awareness.…
Earth-observation satellites are emerging as distributed edge platforms for time-critical tasks, yet orbital scheduling remains challenged by intermittent energy harvesting and temporal coupling where eager execution risks future battery…
One of the most essential prerequisites behind a successful task execution of a team of agents is to accurately estimate and track their poses. We consider a cooperative multi-agent positioning problem where each agent performs single-agent…
For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…
Capturing disused satellites in orbit and their controlled reentry is the aim of the DEOS space mission. Satellites that ran out of fuel or got damaged pose a threat to working projects in orbit. Additionally, the reentry of such objects…
In this work, we study the problem where a group of mobile agents needs to reach a set of goal locations, but it does not matter which agent reaches a specific goal. Unlike most of the existing works on this topic that typically assume the…
We study the problem of decentralized task offloading and load-balancing in a dense network with numerous devices and a set of edge servers. Solving this problem optimally is complicated due to the unknown network information and random…
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from a variety of modalities including sonar, radar, and even…
Direct-to-cell (D2C) satellite communications have emerged as a crucial alternative to terrestrial communications in the sixth generation (6G) mobile networks due to their wide-area coverage capability. Unlike human-oriented communications,…
This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…
This paper presents a mercantile framework for the decentralised sharing of navigation expertise amongst a fleet of robots which perform regular missions into a common but variable environment. We build on our earlier work and allow…