Related papers: Bringing Network Coding into Multi-Robot Systems: …
This dissertation is a study on the design and analysis of novel, optimal routing and rate control algorithms in wireless, mobile communication networks. Congestion control and routing algorithms upto now have been designed and optimized…
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
An efficient communication mechanism forms the backbone for any multi-robot system to achieve fruitful collaboration and coordination. Limitation in the existing asynchronous transmission based strategies in fast dissemination and…
The capability of mobile devices to use multiple interfaces to support a single session is becoming more prevalent. Prime examples include the desire to implement WiFi offloading and the introduction of 5G. Furthermore, an increasing…
This paper considers trajectory planning for a mobile robot which persistently relays data between pairs of far-away communication nodes. Data accumulates stochastically at each source, and the robot must move to appropriate positions to…
Networked control systems are closed-loop feedback control systems containing system components that may be distributed geographically in different locations and interconnected via a communication network such as the Internet. The quality…
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…
This article examines the queueing performance of communication systems that transmit encoded data over unreliable channels. A fading formulation suitable for wireless environments is considered where errors are caused by a discrete channel…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
Relay-based cooperative communication has become a research focus in recent years because it can achieve diversity gain in wireless networks. In existing works, network coding and two-path relay are adopted to deal with the increase of…
This paper re-examines the well-known fundamental tradeoffs between rate and reliability for the multi-antenna, block Rayleigh fading channel in the high signal to noise ratio (SNR) regime when (i) the transmitter has access to (noiseless)…
We investigate cooperative wireless relay networks in which the nodes can help each other in data transmission. We study different coding strategies in the single-source single-destination network with many relay nodes. Given the myriad of…
Purpose of Review. This review summarizes the broad roles that communication formats and technologies have played in enabling multi-robot systems. We approach this field from two perspectives: of robotic applications that need communication…
We consider the problem of allocating radio resources over wireless communication links to control a series of independent wireless control systems. Low-latency transmissions are necessary in enabling time-sensitive control systems to…
Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are…
The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…
Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication…
Autonomous vehicular platoons will play an important role in improving on-road safety in tomorrow's smart cities. Vehicles in an autonomous platoon can exploit vehicle-to-vehicle (V2V) communications to collect information, such as velocity…
In this paper, we address task-oriented (or goal-oriented) communications where an encoder at the transmitter learns compressed latent representations of data, which are then transmitted over a wireless channel. At the receiver, a decoder…