相关论文: Pound: A ROS node for Reducing Delay and Jitter in…
The problem of multi-robot target tracking asks for actively planning the joint motion of robots to track targets. In this paper, we focus on such target tracking problems in adversarial environments, where attacks or failures may…
Wireless sensor networks are deployed in many monitoring applications but still suffer from short lifetimes originating from limited energy sources and storages. Due to their low-power consumption and their on-demand communication ability,…
The INDES project-team of Inria has been developing HOP, a multi-tier language for Web programming. As part of the RAPP FP7 European project, the team has set out to use HOP as the lingua franca of the robotics applications developed within…
How to implement an impeccable space system-of-systems (SoS) internetworking architecture has been a significant issue in system engineering for years. Reliable data transmission is considered one of the most important technologies of space…
Single path routing that is currently used in the internet routers,is easy to implement as it simplifies the routing tables and packet flow paths. However it is not optimal and has shortcomings in utilizing the network resources optimally,…
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…
The backpressure algorithm has been widely used as a distributed solution to the problem of joint rate control and routing in multi-hop data networks. By controlling a parameter $V$ in the algorithm, the backpressure algorithm can achieve…
Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem…
Robotics programming typically involves a trade-off between the ease of use offered by Python and the run-time performance of C++. While multi-language architectures address this trade-off by coupling Python's ergonomics with C++'s speed,…
This paper investigates the use of a networked system ($e.g.$, swarm of robots, smart grid, sensor network) to monitor a time-varying phenomenon of interest in the presence of communication and computation latency. Recent advances in edge…
The noticeably increased deployment of wireless networks for battery-limited industrial applications in recent years highlights the need for tractable performance analysis methodologies as well as efficient QoS-aware transmit power…
In this paper, we consider a multihop wireless sensor network with multiple relay nodes for each hop where the amplify-and-forward scheme is employed. We present algorithmic strategies to jointly design linear receivers and the power…
This paper presents a cross-layer protocol (IRIS) designed for long-range pipeline Wireless Sensor Networks with extremely low power budget, typically seen in a range of monitoring applications. IRIS uses ping packets initiated by a base…
The nodes in wireless sensor networks (WSNs) contain limited energy resources, which are needed to transmit data to base station (BS). Routing protocols are designed to reduce the energy consumption. Clustering algorithms are best in this…
Nodes in contemporary radio networks often have multiple interfaces available for communication: WiFi, cellular, LoRa, Zigbee, etc. This motivates understanding both link and network configuration when multiple communication modalities with…
Closing feedback loops fast and over long distances is key to emerging cyber-physical applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless communication…
In this paper, we investigate the performance of a reconfigurable intelligent surface (RIS)-assisted dual-hop mixed radio-frequency underwater wireless optical communication (RF-UWOC) system. An RIS is an emerging and low-cost technology…
Modern UAV architectures increasingly aim to unify high-level autonomy and low-level flight control on a single General-Purpose Operating System (GPOS). However, complex multi-core System-on-Chips (SoCs) introduce significant timing…
Beaconless position-based forwarding protocols have recently evolved as a promising solution for packet forwarding in wireless sensor networks. However, as the node density grows, the overhead incurred in the process of relay selection…
Deploying heterogeneous multi-agent robot fleets for collaborative perception requires robust data exchange and scalable software architectures. However, standard ROS 2 implementations often suffer from network saturation, namespace…