Related papers: Consensus Based Task Allocation for Angles-Only Lo…
The deployment of aerial base stations (ABSs) on unmanned aerial vehicles (UAVs) presents a promising solution for extending cellular connectivity to areas where terrestrial infrastructure is overloaded, damaged, or absent. A pivotal…
To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
The ever-increasing demand for ubiquitous, continuous, and high-quality services poses a great challenge to the traditional terrestrial network. To mitigate this problem, the mobile-edge-computing-enhanced low earth orbit (LEO) satellite…
In time-sensitive and dynamic missions, multi-UAV teams must respond quickly to new information and objectives. This paper presents a dynamic decentralized task allocation algorithm for allocating new tasks that appear online during the…
Obtaining reliable data describing local Food Security Metrics (FSM) at a granularity that is informative to policy-makers requires expensive and logistically difficult surveys, particularly in the developing world. We train a CNN on…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
Urban traffic congestion is a chronic problem faced by many cities. It is essentially inefficient infrastructure use which results in increased vehicle fuel consumption and emissions. This in turn adds extra costs to commuters and…
We consider a team of mobile autonomous robots with the aim to cover a given set of targets. Each robot aims to select a target to cover and physically reach it by the final time in coordination with other robots given the locations of…
Global Positioning System (GPS) satellites are essential for providing accurate navigation and timing information worldwide. Operating in medium Earth orbit (MEO), these satellites must maintain precise Earth-pointing attitudes to transmit…
In the era of Internet of Things (IoT), multi-access edge computing (MEC)-enabled satellite-aerial-terrestrial integrated network (SATIN) has emerged as a promising technology to provide massive IoT devices with seamless and reliable…
We report two decentralized multi-agent cooperative localization algorithms in which, to reduce the communication cost, inter-agent state estimate correlations are not maintained but accounted for implicitly. In our first algorithm, to…
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…
As dense low Earth orbit (LEO) constellations are being planned, the need for accurate synchronization schemes in high-speed environments remains a challenging problem to tackle. To further improve synchronization accuracy in channeling…
Compared with the terrestrial networks (TN), which can only support limited coverage areas, low-earth orbit (LEO) satellites can provide seamless global coverage and high survivability in case of emergencies. Nevertheless, the swift…
With the increasing penetration of renewable energy resources, power systems face new challenges in balancing power supply and demand and maintaining the nominal frequency. This paper studies load control to handle these challenges. In…
This paper addresses the limitations of current satellite payload architectures, which are predominantly hardware-driven and lack the flexibility to adapt to increasing data demands and uneven traffic. To overcome these challenges, we…
Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight…
The utility of aerial imagery (Satellite, Drones) has become an invaluable information source for cross-disciplinary applications, especially for crisis management. Most of the mapping and tracking efforts are manual which is…
In this letter, we present a distributed algorithm for flocking in complex environments that operates at constant altitude, without explicit communication, no a priori information about the environment, and by using only on-board sensing…