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Mobile robotic manipulation--the ability of robots to navigate spaces and interact with objects--is a core capability of physical AI. Foundation models have led to breakthroughs in their performance, but at a significant computational cost.…
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…
With the rapid development of low-altitude wireless networking, autonomous aerial vehicles (AAVs) have emerged as critical enablers for timely and reliable data delivery, particularly in remote or underserved areas. In this context, the age…
This paper investigates the resource allocation optimization for cooperative communication with non-cooperative localization in integrated sensing and communications (ISAC)-enabled multi-unmanned aerial vehicle (UAV) cooperative networks.…
We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a reliable infrastructure for communication. The backbone for modern mapping techniques…
Cooperation between mobile robots and wireless sensor networks is a line of research that is currently attracting a lot of attention. In this context, we study the following problem of barrier coverage by stationary wireless sensors that…
The dispersion problem on graphs requires $k$ robots placed arbitrarily at the $n$ nodes of an anonymous graph, where $k \leq n$, to coordinate with each other to reach a final configuration in which each robot is at a distinct node of the…
Coverage problem in wireless sensor networks measures how well a region or parts of it is sensed by the deployed sensors. Definition of coverage metric depends on its applications for which sensors are deployed. In this paper, we introduce…
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…
We investigate a remote monitoring framework with multiple sensing modalities including IoT sensors on the ground, mobile UAVs in the air, and a periodically available satellite constellation. While the IoT sensors cover small areas and…
We introduce a new problem in the domain of mobile robots, which we term dispersion. In this problem, $n$ robots are placed in an $n$ node graph arbitrarily and must coordinate with each other to reach a final configuration such that…
We consider cooperation among insects, modeled as cooperation between mobile robots on a graph. Within this setting, we consider the problem of mobile robot dispersion on graphs. The study of mobile robots on a graph is an interesting…
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…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…
The joint design of control and communication scheduling in a Networked Control System (NCS) is known to be a hard problem. Several research works have successfully designed optimal sampling and/or control strategies under simplified…
Mobile robots, especially unmanned aerial vehicles (UAVs), are of increasing interest for surveillance and disaster response scenarios. We consider the problem of multi-robot persistent surveillance with connectivity constraints where…
Mobile Edge Computing (MEC) leverages computational heterogeneity between mobile devices and edge nodes to enable real-time applications requiring high information freshness. The Age-of-Information (AoI) metric serves as a crucial evaluator…
Tracking multiple moving objects of interest (OOI) with multiple robot systems (MRS) has been addressed by active sensing that maintains a shared belief of OOIs and plans the motion of robots to maximize the information quality. Mobility of…
This paper addresses the Multi-Robot Active Information Acquisition (AIA) problem, where a team of mobile robots, communicating through an underlying graph, estimates a hidden state expressing a phenomenon of interest. Applications like…