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

We propose a federated learning method with weighted nodes in which the weights can be modified to optimize the model's performance on a separate validation set. The problem is formulated as a bilevel optimization where the inner problem is…

Multi-robot collaborative transportation is a critical capability that has attracted significant attention over recent years. To reliably transport a kinematically constrained payload, a team of robots must closely collaborate and…

With growth in the number of smart devices and advancements in their hardware, in recent years, data-driven machine learning techniques have drawn significant attention. However, due to privacy and communication issues, it is not possible…

We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…

Federated learning (FL) is a promising privacy-preserving machine learning paradigm over distributed located data. In FL, the data is kept locally by each user. This protects the user privacy, but also makes the server difficult to verify…

Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…

An optimization problem that naturally arises in the study of swarm robotics is the Freeze-Tag Problem (FTP) of how to awaken a set of ``asleep'' robots, by having an awakened robot move to their locations. Once a robot is awake, it can…

High-speed online trajectory planning for UAVs poses a significant challenge due to the need for precise modeling of complex dynamics while also being constrained by computational limitations. This paper presents a multi-fidelity…

Various real-life applications, for example, Internet of Things, wireless sensor networks, smart grids, transportation networks, communication networks, social networks, and computer grid systems, are always modeled as network structures.…

In this paper, we consider a large-scale instance of the classical Pickup-and-Delivery Vehicle Routing Problem (PDVRP) that must be solved by a network of mobile cooperating robots. Robots must self-coordinate and self-allocate a set of…

We propose a new algorithm for the solution of the robust multiple-load topology optimization problem. The algorithm can be applied to any type of problem, e.g., truss topology, variable thickness sheet or free material optimization. We…

This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…

The distribution network restoration problem is by nature a mixed integer and non-linear optimization problem due to the switching decisions and Optimal Power Flow (OPF) constraints, respectively. The link between these two parts involves…

Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…

The task of maximizing coverage using multiple robots has several applications such as surveillance, exploration, and environmental monitoring. A major challenge of deploying such multi-robot systems in a practical scenario is to ensure…

Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…

In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…

Quite a few algorithms have been proposed to optimize the transmission performance of Multipath TCP (MPTCP). However, existing MPTCP protocols are still far from satisfactory in lossy and ever-changing networks because of their loss-based…

As there is a growing interest in utilizing data across multiple resources to build better machine learning models, many vertically federated learning algorithms have been proposed to preserve the data privacy of the participating…