相关论文: Non-linear Barrier Coverage using Mobile Wireless …
Certifying safety in dynamical systems is crucial, but barrier certificates - widely used to verify that system trajectories remain within a safe region - typically require explicit system models. When dynamics are unknown, data-driven…
In this paper, we design an information-based multi-robot source seeking algorithm where a group of mobile sensors localizes and moves close to a single source using only local range-based measurements. In the algorithm, the mobile sensors…
We introduce a novel data-driven order reduction method for nonlinear control systems, drawing on recent progress in machine learning and statistical dimensionality reduction. The method rests on the assumption that the nonlinear system…
Sweep coverage is to realize the periodic coverage of targets by planning the periodic sweeping paths of mobile sensors. It is difficult for sensors to reduce energy consumption by reducing the moving distances. Therefore, charging…
This thesis studies range-based WSN localization problem in 3D environments that induce coplanarity. In most real-world applications, even though the environment is 3D, the grounded sensor nodes are usually deployed on 2D planar surfaces.…
We introduce a problem called the Minimum Shared-Power Edge Cut (MSPEC). The input to the problem is an undirected edge-weighted graph with distinguished vertices s and t, and the goal is to find an s-t cut by assigning "powers" at the…
In modern robotics, addressing the lack of accurate state space information in real-world scenarios has led to a significant focus on utilizing visuomotor observation to provide safety assurances. Although supervised learning methods, such…
Many robots move through the world by composing locomotion primitives like steps and turns. To do so well, robots need not have primitives that make intuitive sense to humans. This becomes of paramount importance when robots are damaged and…
Traditional algorithms for robots who need to integrate into a wireless network often focus on one specific task. In this work we want to develop simple, adaptive and reusable algorithms for real world applications for this scenario.…
The integration of sensing capability in the design of wireless communication systems is foreseen as a key enabler for efficient radio resource management in next-generation networks. This paper focuses on millimeter-wave communications,…
Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and prediction uncertainties, either ignoring them altogether or making…
A fundamental problem in wireless sensor networks is to connect a given set of sensors while minimizing the \emph{receiver interference}. This is modeled as follows: each sensor node corresponds to a point in $\mathbb{R}^d$ and each…
We establish a novel approach to probing spatially resolved multi-time correlation functions of interacting many-body systems, with scalable experimental overhead. Specifically, designing nonlinear measurement protocols for multidimensional…
We consider the dispersion problem for mobile agents. Initially, k agents are located at arbitrary nodes in an undirected graph. Agents can migrate from node to node via an edge in the graph synchronously. Our goal is to let the k agents be…
In this paper, we study the problem of wireless sensor network (WSN) maintenance using mobile entities called mules. The mules are deployed in the area of the WSN in such a way that would minimize the time it takes them to reach a failed…
A skip graph is a resilient application-layer routing structure that supports range queries of distributed k-dimensional data. By sorting deterministic keys into groups based on locally computed random membership vectors, nodes in a…
Scaling tactile sensing for robust whole-body manipulation is a significant challenge, often limited by wiring complexity, data throughput, and system reliability. This paper presents a complete architecture designed to overcome these…
The aim of the dispersion problem is to place a set of $k(\leq n)$ mobile robots in the nodes of an unknown graph consisting of $n$ nodes such that in the final configuration each node contains at most one robot, starting from any arbitrary…
The paper presents a strategy for robotic exploration problem using Space-Filling curves (SFC). The strategy plans a path that avoids unknown obstacles while ensuring complete coverage of the free space in region of interest. The region of…
Often, robots are asked to execute primitive movements, whether as a single action or in a series of actions representing a larger, more complex task. These movements can be learned in many ways, but a common one is from demonstrations…