Related papers: C$^2$-Explorer: Contiguity-Driven Task Allocation …
Efficient data transmission and reasonable task allocation are important to improve multi-robot exploration efficiency. However, most communication data types typically contain redundant information and thus require massive communication…
Although the use of multiple Unmanned Aerial Vehicles (UAVs) has great potential for fast autonomous exploration, it has received far too little attention. In this paper, we present RACER, a RApid Collaborative ExploRation approach using a…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…
We introduce a new graph neural operator-based approach for task allocation in a system of heterogeneous robots composed of Unmanned Ground Vehicles (UGVs) and Unmanned Aerial Vehicles (UAVs). The proposed model, \texttt{\method}, or…
To perform advanced surveillance, Unmanned Aerial Vehicles (UAVs) require the execution of edge-assisted computer vision (CV) tasks. In multi-hop UAV networks, the successful transmission of these tasks to the edge is severely challenged…
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…
This paper considers a patrol inspection scenario where multiple unmanned aerial vehicles (UAVs) are adopted to traverse multiple predetermined cruise points for data collection. The UAVs are connected to cellular networks and they would…
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…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
Compared to a single UAV with limited sensing coverage and communication capability, multi-UAV cooperation is able to provide more effective sensing and transmission (S&T) services. Nevertheless, most existing works on multi-UAV sensing…
Cooperative and cognitive non-orthogonal multiple access (CCR-NOMA) has been recognized as a promising technique to overcome issues of spectrum scarcity and support massive connectivity envisioned in next-generation wireless networks. In…
Dynamic low altitude networks offer significant potential for efficient and reliable data transport via unmanned aerial vehicles (UAVs) relays which usually operate with predetermined trajectories. However, it is challenging to optimize the…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
We propose a game theoretic framework for task allocation in mobile cloud computing that corresponds to offloading of compute tasks to a group of nearby mobile devices. Specifically, in our framework, a distributor node holds a…
This paper proposes a novel multi-unmanned aerial vehicle (UAV) assisted collaborative mobile edge computing (MEC) framework, where the computing tasks of terminal devices (TDs) can be decomposed into serial or parallel sub-tasks and…
Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…
Recently, unmanned aerial vehicles (UAVs) assisted multi-access edge computing (MEC) systems emerged as a promising solution for providing computation services to mobile users outside of terrestrial infrastructure coverage. As each UAV…
In this paper, we propose a distributed coordinated constrained task execution (C2TE) algorithm that enables a team of vehicles from different lanes to cooperatively merge into an {\it ordering-flexible platoon} maneuvering on the desired…
This work addresses the collaborative multi-robot autonomous online exploration problem, particularly focusing on distributed exploration planning for dynamically balanced exploration area partition and task allocation among a team of…
This paper addresses the challenge of decentralized task allocation within heterogeneous multi-agent systems operating under communication constraints. We introduce a novel framework that integrates graph neural networks (GNNs) with a…