相关论文: Fast Biconnectivity Restoration in Multi-Robot Sys…
As robots become increasingly prevalent in work-oriented collaborations, trust has emerged as a critical factor in their acceptance and effectiveness. However, trust is dynamic and can erode when mistakes are made. Despite emerging research…
This two-part paper explores the use of FP in the design and optimization of communication systems. Part I of this paper focuses on FP theory and on solving continuous problems. The main theoretical contribution is a novel quadratic…
Multi-robot coordination based on large language models (LLMs) has attracted growing attention, since LLMs enable the direct translation of natural language instructions into robot action plans by decomposing tasks and generating high-level…
Good quality network connectivity is ever more important. For hybrid fiber coaxial (HFC) networks, searching for upstream high noise in the past was cumbersome and time-consuming. Even with machine learning due to the heterogeneity of the…
Radio-frequency (RF) front-end forms a critical part of any radio system, defining its cost as well as communication performance. However, these components frequently exhibit non-ideal behavior, referred to as impairments, due to the…
Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations…
Consider the single-group multicast beamforming problem, where multiple users receive the same data stream simultaneously from a single transmitter. The problem is NP-hard and all existing algorithms for the problem either find suboptimal…
Hamilton Jacobi (HJ) Reachability is a formal verification tool widely used in robotic safety analysis. Given a target set as unsafe states, a dynamical system is guaranteed not to enter the target under the worst-case disturbance if it…
Line coverage is to cover linear infrastructure modeled as 1D segments by robots, which received attention in recent years. With the increasing urbanization, the area of the city and the density of infrastructure continues to increase,…
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…
In this paper, we investigate the worst-case robust beamforming design and resource block (RB) assignment problem for total transmit power minimization of the central controller while guaranteeing each robot's transmission with target…
The problem of exact repair of a failed node in multi-hop networked distributed storage systems is considered. Contrary to the most of the current studies which model the repair process by the direct links from surviving nodes to the new…
As a prevalent distributed learning paradigm, Federated Learning (FL) trains a global model on a massive amount of devices with infrequent communication. This paper investigates a class of composite optimization and statistical recovery…
We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination, and (c) cooperation through the formation of robot…
Federated learning faces challenges due to the heterogeneity in data volumes and distributions at different clients, which can compromise model generalization ability to various distributions. Existing approaches to address this issue based…
We introduce a new class of exact Minimum-Bandwidth Regenerating (MBR) codes for distributed storage systems, characterized by a low-complexity uncoded repair process that can tolerate multiple node failures. These codes consist of the…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…
Ensuring resilient consensus in multi-robot systems with misbehaving agents remains a challenge, as many existing network resilience properties are inherently combinatorial and globally defined. While previous works have proposed control…
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distributed navigation algorithm certified by control barrier…