相关论文: Fast Biconnectivity Restoration in Multi-Robot Sys…

This paper considers a distributed storage system, where multiple storage nodes can be reconstructed simultaneously at a centralized location. This centralized multi-node repair (CMR) model is a generalization of regenerating codes that…

This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Connect, propagates in both forward and backward directions in…

The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…

We consider here the MultiBot problem for the scheduling and the resource parametrization of jobs related to the production or the transportation of different products inside a given time horizon. Those jobs must meet known in advance…

Robust topology optimization (RTO), as a class of topology optimization problems, identifies a design with the best average performance while reducing the response sensitivity to input uncertainties, e.g. load uncertainty. Solving RTO is…

Faults occurring in ad-hoc robot networks may fatally perturb their topologies leading to disconnection of subsets of those networks. Optimal topology synthesis is generally resource-intensive and time-consuming to be done in real time for…

This paper addresses the complete area coverage problem of a known environment by multiple-robots. Complete area coverage is the problem of moving an end-effector over all available space while avoiding existing obstacles. In such tasks,…

Distributed storage systems need to store data redundantly in order to provide some fault-tolerance and guarantee system reliability. Different coding techniques have been proposed to provide the required redundancy more efficiently than…

Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety constraints. While many MRS autonomy algorithms assume reliable…

Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…

Federated learning (FL) enables distributed model training from local data collected by users. In distributed systems with constrained resources and potentially high dynamics, e.g., mobile edge networks, the efficiency of FL is an important…

We consider the robust version of a multi-commodity network flow problem. The robustness is defined with respect to the deletion, or failure, of edges. While the flow problem itself is a polynomially-sized linear program, its robust version…

We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…

With the increasing scale of communication networks, the likelihood of failures grows as well. Since these networks form a critical backbone of our digital society, it is important that they rely on robust routing algorithms which ensure…

In distributed storage systems reliability is achieved through redundancy stored at different nodes in the network. Then a data collector can reconstruct source information even though some nodes fail. To maintain reliability, an autonomous…

The employment of convolutional neural networks has achieved unprecedented performance in the task of image restoration for a variety of degradation factors. However, high-performance networks have been specifically designed for a single…

As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…

This paper investigates reconfigurable intelligent surface (RIS)-assisted secure multiuser communication systems subject to hardware impairments (HIs). We jointly optimize the beamforming vectors at the base station (BS) and the phase…

Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…

With the increasing computing power, using data-driven approaches to co-design a robot's morphology and controller has become a promising way. However, most existing data-driven methods require training the controller for each morphology to…