Related papers: Bringing Network Coding into Multi-Robot Systems: …
The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…
We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…
It has been well established that wireless network coding can significantly improve the efficiency of multi-hop wireless networks. However, in a stochastic environment some of the packets might not have coding pairs, which limits the number…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
With the rapid advancement of vehicular communication facilities and autonomous driving technologies, connected vehicle platooning has emerged as a promising approach to improve traffic efficiency and driving safety. Reliable…
This paper considers the multiple-access relay channel in a setting where two source nodes transmit packets to a destination node, both directly and via a relay node, over packet erasure channels. Intra-session network coding is used at the…
Cooperative transportation, a key aspect of logistics cyber-physical systems (CPS), is typically approached using dis tributed control and optimization-based methods. The distributed control methods consume less time, but poorly handle and…
Network coding permits to deploy distributed packet delivery algorithms that locally adapt to the network availability in media streaming applications. However, it may also increase delay and computational complexity if it is not…
Decentralized network theories focus on achieving consensus and in speeding up the rate of convergence to consensus. However, network cohesion (i.e., maintaining consensus) during transitions between consensus values is also important when…
We address the problem of optimizing the throughput of network coded traffic in mobile networks operating in challenging environments where connectivity is intermittent and locally available memory space is limited. Random linear network…
A non-regenerative dual-hop wireless system based on a distributed space-time coding strategy is considered. It is assumed that each relay retransmits an appropriately scaled space-time coded version of its received signal. The main goal of…
Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either…
Time delays may cause dramatic changes to the dynamics of interacting oscillators. Coupled networks of interacting dynamical systems can behave unexpectedly when the signal between the vertices are time delayed. It has been shown for a very…
Communication is supposed to improve multi-agent collaboration and overall performance in cooperative Multi-agent reinforcement learning (MARL). However, such improvements are prevalently limited in practice since most existing…
The emerging interest in low-latency high-reliability applications, such as connected vehicles, necessitates a new abstraction between communication and control. Thanks to advances in cyber-physical systems over the past decades, we…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
Autonomous robots must utilize rich sensory data to make safe control decisions. To process this data, compute-constrained robots often require assistance from remote computation, or the cloud, that runs compute-intensive deep neural…
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…
The throughput benefits of random linear network codes have been studied extensively for wirelined and wireless erasure networks. It is often assumed that all nodes within a network perform coding operations. In energy-constrained systems,…
In this paper, a distributed turbo-like coding scheme for wireless networks with relays is proposed. We consider a scenario where multiple sources communicate with a single destination with the help of a relay. The proposed scheme can be…