Related papers: Bringing Network Coding into Multi-Robot Systems: …
In this paper, we propose two novel physical layer aware adaptive network coding and coded modulation schemes for time variant channels. The proposed schemes have been applied to different satellite communications scenarios with different…
Benefiting from the fusion of communication and intelligent technologies, network-enabled robots have become important to support future machine-assisted and unmanned applications. To provide high-quality services for robots in wide areas,…
Modern 5G communication systems implement a combination of error correction and feedback-based erasure correction (HARQ/ARQ) as reliability mechanisms, which can introduce substantial delay and resource inefficiency. We propose forward…
Multi-robot systems (MRS) rely on exchanging raw sensory data to cooperate in complex three-dimensional (3D) environments. However, this strategy often leads to severe communication congestion and high transmission latency, significantly…
Due to the short and bursty incoming messages, channel access activities in a wireless random access system are often fractional. The lack of frequent data support consequently makes it difficult for the receiver to estimate and track the…
Relational networks within a team play a critical role in the performance of many real-world multi-robot systems. To successfully accomplish tasks that require cooperation and coordination, different agents (e.g., robots) necessitate…
This paper develops the time-delay approach to Networked Control Systems (NCSs) in the presence of variable transmission delays, sampling intervals and communication constraints. The system sensor nodes are supposed to be distributed over a…
Information-theoretic arguments focus on modeling the reliability of information transmission, assuming availability of infinite data at sources, thus ignoring randomness in message generation times at the respective sources. However, in…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
Network coding is all about combining a variety of packets and forwarding as much packets as possible in each transmission operation. The network coding technique improves the throughput efficiency of multi-hop wireless networks by taking…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…
Throughput and per-packet delay can present strong trade-offs that are important in the cases of delay sensitive applications.We investigate such trade-offs using a random linear network coding scheme for one or more receivers in single hop…
We consider the problem of controlling a series of industrial systems, such as industrial robotics, in a factory environment over a shared wireless channel leveraging edge computing capabilities. The wireless control system model supports…
In this paper, a multi-source multi-relay cooperative wireless network with binary modulation and binary network coding is studied. The system model encompasses: i) a demodulate-and-forward protocol at the relays, where the received packets…
In a multi-robot system, the appropriate allocation of the tasks to the individual robots is a very significant component. The availability of a centralized infrastructure can guarantee an optimal allocation of the tasks. However, in many…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
This paper presents a distributed scalable multi-robot planning algorithm for informed sampling of quasistatic spatial fields. We address the problem of efficient data collection using multiple autonomous vehicles and consider the effects…
Collaborative learning enhances the performance and adaptability of multi-robot systems in complex tasks but faces significant challenges due to high communication overhead and data heterogeneity inherent in multi-robot tasks. To this end,…
Networked robotic systems, such as connected vehicle platoons, can improve the safety and efficiency of transportation networks by allowing for high-speed coordination. To enable such coordination, these systems rely on networked…