相关论文: Higher order Voronoi based mobile coverage control
We consider the problem of bearing-based visual homing: Given a mobile robot which can measure bearing directions with respect to known landmarks, the goal is to guide the robot toward a desired "home" location. We propose a control law…
Network connectivity is one of the major design issues in the context of mobile sensor networks. Due to diverse communication patterns, some nodes lying in high-traffic zones may consume more energy and eventually die out resulting in…
A decomposition-based coverage control scheme is proposed for multi-agent, persistent surveillance missions operating in a communication-constrained, dynamic environment. The proposed approach decouples high-level task assignment from…
One of the fundamental issue in wireless sensor network is conserving energy and thus extending the lifetime of the network. In this paper we investigate the coverage problem in camera sensor networks by developing two algorithms which…
We study how to design a secure observer-based distributed controller such that a group of vehicles can achieve accurate state estimates and formation control even if the measurements of a subset of vehicle sensors are compromised by a…
Color image segmentation is a crucial step in many computer vision and pattern recognition applications. This article introduces an adaptive and unsupervised clustering approach based on Voronoi regions, which can be applied to solve the…
With the rise of mega-satellite constellations, the integration of hierarchical non-terrestrial and terrestrial networks has become a cornerstone of 6G coverage enhancements. In these hierarchical satellite networks, controllers manage…
This article addresses how diverse collective behaviors arise from simple and realistic decisions made entirely at the level of each agent's personal space in the sense of the Voronoi diagram. We present a discrete time model in 2D in which…
Cell Switch-Off (CSO) is recognized as a promising approach to reduce the energy consumption in next-generation cellular networks. However, CSO poses serious challenges not only from the resource allocation perspective but also from the…
In this article, we propose a numerical method to solve semi-discrete optimal transport problems for gigantic pointsets (108 points and more). By pushing the limits by several orders of magnitude, it opens the path to new applications in…
In cellular networks, users are grouped into different cells and served by different access points (base stations) that provide wireless access to services and applications. In general, the service demand is very heterogeneous,…
We study the problem of distributed coverage control in a network of mobile agents arranged on a line. The goal is to design distributed dynamics for the agents to achieve optimal coverage positions with respect to a scalar density field…
The problem of primary control of high-voltage direct current transmission systems is addressed in this paper, which contains four main contributions. First, to propose a new nonlinear, more realistic, model for the system suitable for…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
A multi-scale greedy-based object proposal generation approach is presented. Based on the multi-scale nature of objects in images, our approach is built on top of a hierarchical segmentation. We first identify the representative and diverse…
The regulation of the cell state is a complex process involving several components. These complex dynamics can be modeled using Boolean networks, allowing us to explain the existence of different cell states and the transition between them.…
In this article we introduce a novel solution called SuperCell, which can improve the return on investment (ROI) for rural area network coverage. SuperCell offers two key technical features: it uses tall towers with high-gain antennas for…
Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…
The throughput of multicell systems is inherently limited by interference and the available communication resources. Coordinated resource allocation is the key to efficient performance, but the demand on backhaul signaling and computational…
In this paper we present a novel distributed coverage control framework for a network of mobile agents, in charge of covering a finite set of points of interest (PoI), such as people in danger, geographically dispersed equipment or…