相关论文: Non-linear Barrier Coverage using Mobile Wireless …
It is always a challenging task to service sudden events in non-convex and uncertain environments, and multi-agent coverage control provides a powerful theoretical framework to investigate the deployment problem of mobile robotic networks…
This paper proposes a distributed coverage control strategy for quadcopters equipped with downward-facing cameras that prevents the appearance of unmonitored areas in between the quadcopters' fields of view (FOVs). We derive a necessary and…
Unmanned aerial vehicle (UAV) based aerial base stations (BSs) can provide rapid communication services to ground users and are thus promising for future communication systems. In this paper, we consider a scenario where no functional…
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is…
Wireless sensor networks (WSNs) have great practical importance for surveillance systems to perform monitoring by acquiring and sending information on any intrusion in a secured area. Requirement of very little human intervention is one of…
Mobile sensor networks are important for several strategic applications devoted to monitoring critical areas. In such hostile scenarios, sensors cannot be deployed manually and are either sent from a safe location or dropped from an…
In this paper we focus on the mobile sensor coverage problem formulated as a continuous locational optimization problem. Cort\`es et al. first proposed a distributed version of the Lloyd descent algorithm with guaranteed convergence to a…
Barrier certificates are scalar functions over the state space of dynamical systems that separate all unsafe states from all reachable states. The existence of a barrier certificate formally verifies the safety of the dynamical system.…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
In the \emph {barrier resilience} problem (introduced by Kumar {\em et al.}, Wireless Networks 2007), we are given a collection of regions of the plane, acting as obstacles, and we would like to remove the minimum number of regions so that…
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…
For three decades, carrier-phase observations have been used to obtain the most accurate location estimates using global navigation satellite systems (GNSS). These estimates are computed by minimizing a nonlinear mixed-integer least-squares…
This paper develops a physics-informed scenario approach for safety verification of nonlinear systems using barrier certificates (BCs) to ensure that system trajectories remain within safe regions over an infinite time horizon. Designing…
The precision advantages offered by harnessing the quantum states of sensors can be readily compromised by noise. However, when the noise has a different spatial function than the signal of interest, recent theoretical work shows how the…
This paper studies the problem of safe control of sampled-data systems under bounded disturbance and measurement errors with piecewise-constant controllers. To achieve this, we first propose the High-Order Doubly Robust Control Barrier…
We present a numerical method that allows a formation of communicating agents to target the boundary of a time dependent concentration by following a time dependent concentration gradient. The algorithm motivated by \cite{MB, BKM}, allows…
We leverage proof techniques Fourier analysis and an existing result in coding theory to derive new bounds for the problem of non-interactive simulation of binary random variables. Previous bounds in the literature were derived by applying…
Mobile robots operating in crowded environments require the ability to navigate among humans and surrounding obstacles efficiently while adhering to safety standards and socially compliant mannerisms. This scale of the robot navigation…
Directional radio beams are used in the mm-Wave band to combat the high path loss. The mm-Wave band also suffers from high penetration losses from drywall, wood, glass, concrete, etc., and also the human body. Hence, as a mobile user moves,…
Virtual borders are employed to allow humans the interactive and flexible restriction of their mobile robots' workspaces in human-centered environments, e.g. to exclude privacy zones from the workspace or to indicate certain areas for…