Related papers: AoI-Aware Multi-Robot Sensing and Transport on Con…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…
In this work, we consider a random access Internet of Things IoT wireless network assisted by two aggregators collecting information from two disjoint groups of sensors. The nodes and the aggregators are transmitting in a random access…
In this work, we consider a remote monitoring scenario in which multiple sensors share a wireless channel to deliver their status updates to a process monitor via an access point (AP). Moreover, we consider that the sensors randomly arrive…
Connectivity and coverage are two crucial problems for wireless sensor networks. Several studies have focused on proposing solutions for improving and adjusting the initial deployment of a wireless sensor network to meet these two criteria.…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
In the dispersion problem, a set of $k$ co-located mobile robots must relocate themselves in distinct nodes of an unknown network. The network is modeled as an anonymous graph $G=(V,E)$, where the nodes of the graph are not labeled. The…
The dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of the graph. This…
This paper investigates the problem of sensor scheduling for remotely estimating the states of heterogeneous dynamical systems over resource-limited and lossy wireless channels. Considering the low time complexity and high versatility…
The timely exchange of information among robots within a team is vital, but it can be constrained by limited wireless capacity. The inability to deliver information promptly can result in estimation errors that impact collaborative efforts…
In this work, we present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with global localization capabilities and limited inter-robot communication. The robots explore the…
Shortest path queries over graphs are usually considered as isolated tasks, where the goal is to return the shortest path for each individual query. In practice, however, such queries are typically part of a system (e.g., a road network)…
We consider the problem of timely exchange of updates between a central station and a set of ground terminals $V$, via a mobile agent that traverses across the ground terminals along a mobility graph $G = (V, E)$. We design the trajectory…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
In this paper, we adopt the fluid limits to analyze Age of Information (AoI) in a wireless multiaccess network with many users. We consider the case wherein users have heterogeneous i.i.d. channel conditions and the statuses are…
This paper discusses the integration challenges and strategies for designing mobile robots, by focusing on the task-driven, optimal selection of hardware and software to balance safety, efficiency, and minimal usage of resources such as…
Information freshness is crucial for time-critical IoT applications, e.g., monitoring and control systems. We consider an IoT status update system with multiple users, multiple energy harvesting sensors, and a wireless edge node. The users…
We study the problem of collective tree exploration in which a team of $k$ mobile agents must collectively visit all nodes of an unknown tree in as few moves as possible. The agents all start from the root and discover adjacent edges as…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
This thesis is concerned with distributed control and coordination of networks consisting of multiple, potentially mobile, agents. This is motivated mainly by the emergence of large scale networks characterized by the lack of centralized…
Express companies are deploying more robotic sorting systems, where mobile robots are used to sort incoming parcels by destination. In this study, we propose an integrated assignment and path-finding method for robots in such sorting…