Related papers: Bringing Network Coding into Multi-Robot Systems: …
Communication has been widely employed to enhance multi-agent collaboration. Previous research has typically assumed delay-free communication, a strong assumption that is challenging to meet in practice. However, real-world agents suffer…
In multi-robot systems (MRS), cooperative localization is a crucial task for enhancing system robustness and scalability, especially in GPS-denied or communication-limited environments. However, adversarial attacks, such as sensor…
Network coding is a highly efficient data dissemination mechanism for wireless networks. Since network coded information can only be recovered after delivering a sufficient number of coded packets, the resulting decoding delay can become…
In multi-robot systems where a central decision maker is specifying the movement of each individual robot, a communication failure can severely impair the performance of the system. This paper develops a motion strategy that allows robots…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
A characterization of systematic network coding over multi-hop wireless networks is key towards understanding the trade-off between complexity and delay performance of networks that preserve the systematic structure. This paper studies the…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…
Network coding has the potential to improve the overall throughput of a network by combining different streams of data and forwarding them. In wireless networks, the wireless channel provide an excellent medium for physical layer network…
Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions as a means to cope with the lack of a central system coordinating the efforts of all robots. Especially in complex…
Transport coding reduces message delay in packet-switched networks by introducing controlled redundancy at the transport layer: $k$ original packets are encoded into $n\ge k$ coded packets, and the message is reconstructed after the first…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
In this paper, we investigate transmission techniques for a fundamental cooperative cognitive radio network, i.e., a radio system where a Secondary user may act as relay for messages sent by the Primary user, hence offering performance…
In this paper, we investigate the impact of network coding at the relay node on the stable throughput rate in multicasting cooperative wireless networks. The proposed protocol adopts Network-level cooperation in contrast to the traditional…
Communication is an important capability for multi-robot exploration because (1) inter-robot communication (comms) improves coverage efficiency and (2) robot-to-base comms improves situational awareness. Exploring comms-restricted (e.g.,…
We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…
We consider the transmission of packets across a lossy end-to-end network path so as to achieve low in-order delivery delay. This can be formulated as a decision problem, namely deciding whether the next packet to send should be an…
In this paper, we dynamically select the transmission rate and design wireless network coding to improve the quality of services such as delay for time critical applications. In a network coded system, with low transmission rate and hence…
We propose a novel multipath multi-hop adaptive and causal random linear network coding (AC-RLNC) algorithm with forward error correction. This algorithm generalizes our joint optimization coding solution for point-to-point communication…
Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…