相关论文: Robotic Message Ferrying for Wireless Networks usi…

We consider a problem of robotic router placement and mobility control with the objective of formation and maintenance of an optimal communication network between a set of transmitter-receiver pairs. In this scenario, the communication path…

We consider a fundamental problem concerning the deployment of a wireless robotic network: to fulfill various end-to-end performance requirements, a "sufficient" number of robotic relays must be deployed to ensure that links are of…

In a diverse set of robotics applications, including RoboCup categories, mobile robots require control commands to interact with surrounding environment correctly. These control commands should come wirelessly to not interfere in robots'…

This thesis focuses on link scheduling in wireless mesh networks by taking into account physical layer characteristics. The assumption made throughout is that a packet is received successfully only if the Signal to Interference and Noise…

In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…

In modern wireless networks, devices are able to set the power for each transmission carried out. Experimental but also theoretical results indicate that such power control can improve the network capacity significantly. We study this…

We consider a team of heterogeneous robots which are deployed within a common workspace to gather different types of data. The robots have different roles due to different capabilities: some gather data from the workspace (source robots)…

In the era of digital commerce, the surge in online shopping and the expectation for rapid delivery have placed unprecedented demands on warehouse operations. The traditional method of order fulfilment, where human order pickers traverse…

We study a fundamental cooperative message-delivery problem on the plane. Assume $n$ robots which can move in any direction, are placed arbitrarily on the plane. Robots each have their own maximum speed and can communicate with each other…

When a large number of robots try to reach a common area, congestions happen, causing severe delays. To minimise congestion in a robotic swarm system, traffic control algorithms must be employed in a decentralised manner. Based on…

Compute-and-forward (CF) harnesses interference in a wireless networkby allowing relays to compute combinations of source messages. The computed message combinations at relays are correlated, and so directly forwarding these combinations to…

This paper considers the problem of optimally balancing motion energy and communication transmission energy of a mobile robot tasked with transmitting a given number of data bits to a remote station, while navigating to a prespecified…

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…

Throughput-optimal transmission scheduling in wireless networks has been a well considered problem in the literature, and the method for achieving optimality, MaxWeight scheduling, has been known for several decades. This algorithm achieves…

Carrier Sense Multiple Access (CSMA) based distributed algorithms can attain the largest capacity region as the centralized Max-Weight policy does. Despite their capability of achieving throughput-optimality, these algorithms can either…

Connectivity maintenance plays a key role in achieving a desired global behavior among a swarm of robots. However, connectivity maintenance in realistic environments is hampered by lack of computation resources, low communication bandwidth,…

This paper introduces algorithms for target tracking in wireless sensor networks (WSNs) that enable reduction of data communication cost. The objective of the considered problem is to control movement of a mobile sink which has to reach a…

Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the…

Network congestion has become a critical issue for resource constrained Wireless Sensor Networks (WSNs), especially for Wireless Multimedia Sensor Networks (WMSNs)where large volume of multimedia data is transmitted through the network. If…

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…