Related papers: Bringing Network Coding into Multi-Robot Systems: …
Real-time applications require latencies on the order of a millisecond with very high reliabilities, paralleling the requirements for high-performance industrial control. Current wireless technologies like WiFi, Bluetooth, LTE, etc. are…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
Delay tolerant Ad-hoc Networks make use of mobility of relay nodes to compensate for lack of permanent connectivity and thus enable communication between nodes that are out of range of each other. To decrease delivery delay, the information…
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes costs in terms of restricted robot mobility, resulting in…
This study explores the throughput and delay that can be achieved by various forwarding schemes employing multiple paths and different degrees of redundancy focusing on linear network coding. The key contribution of the study is an…
Delay tolerant Networks (DTNs) leverage the mobility of relay nodes to compensate for lack of permanent connectivity and thus enable communication between nodes that are out of range of each other. To decrease message delivery delay, the…
Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
In this paper, we introduce novel coding schemes for wireless networks with random transmission delays. These coding schemes obviate the need for synchronicity, reduce the number of transmissions and achieve the optimal rate region in the…
Advances in Micro-Electro-Mechanical Systems (MEMS) have revolutionized the digital age to a point where animate and inanimate objects can be used as a communication channel. In addition, the ubiquity of mobile phones with increasing…
Recent studies have shown that retransmissions can cause heavy-tailed transmission delays even when packet sizes are light-tailed. Moreover, the impact of heavy-tailed delays persists even when packets size are upper bounded. The key…
Network coding is famous for significantly improving the throughput of networks. The successful decoding of the network coded data relies on some side information of the original data. In that framework, independent data flows are usually…
Connectivity maintenance is crucial for the real world deployment of multi-robot systems, as it ultimately allows the robots to communicate, coordinate and perform tasks in a collaborative way. A connectivity maintenance controller must…
Cooperation between the nodes of wireless multihop networks can increase communication reliability, reduce energy consumption, and decrease latency. The possible improvements are even greater when nodes perform mutual information…
Several novel industrial applications involve human control of vehicles, cranes, or mobile robots through various high-throughput feedback systems, such as Virtual Reality (VR) and tactile/haptic signals. The near real-time interaction…
With the rise of critical machine-to-machine applications, next generation wireless communication systems must be designed with strict constraints on the latency and reliability. A key question in this context relates to channel state…
A large number of streaming applications use reliable transport protocols such as TCP to deliver content over the Internet. However, head-of-line blocking due to packet loss recovery can often result in unwanted behavior and poor…
High-performance industrial automation systems rely on tens of simultaneously active sensors and actuators and have stringent communication latency and reliability requirements. Current wireless technologies like WiFi, Bluetooth, and LTE…
In the operation of networked control systems, where multiple processes share a resource-limited and time-varying cost-sensitive network, communication delay is inevitable and primarily influenced by, first, the control systems deploying…
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…