相关论文: Proxying ROS communications -- enabling containeri…
Routing is a challenging problem for wireless ad hoc networks, especially when the nodes are mobile and spread so widely that in most cases multiple hops are needed to route a message from one node to another. In fact, it is known that any…
In practical systems, reliable communication is often accomplished by coding at different network layers. We question the necessity of this approach and examine when it can be beneficial. Through conceptually simple probabilistic models…
By moving from massive antennas to antenna surfaces for software-defined wireless systems, the reconfigurable intelligent surfaces (RISs) rely on arrays of unit cells to control the scattering and reflection profiles of signals, mitigating…
In scenarios where devices are too small to support MIMO antenna arrays, symbol-level cooperation may be used to pool the resources of distributed single-antenna devices to create a virtual MIMO antenna array. We address design fundamentals…
This article presents an open-source architecture for conveying robots' intentions to human teammates using Mixed Reality and Head-Mounted Displays. The architecture has been developed focusing on its modularity and re-usability aspects.…
Despite the stringent requirements of a real-time system, the reliance of the Robot Operating System (ROS) on the loopback network interface imposes a considerable overhead on the transport of high bandwidth data, while the nodelet package,…
Probabilistic message-passing algorithms are developed for routing transmissions in multi-wavelength optical communication networks, under node and edge-disjoint routing constraints and for various objective functions. Global routing…
This paper investigates the multi-antenna covert communications assisted by a simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS). In particular, to shelter the existence of covert communications between…
As one of the most promising hotspots in the 6G era, space remote sensing information networks play a key and irreplaceable role in areas such as emergency response and scientific research, and are expected to foster remote sensing data…
The structure and routing architecture design is critical for achieving low latency and high capacity in future LEO space networks (SNs). Existing studies mainly focus on topologies of space networks, but there is a lack of analysis on…
The 5G mobile networks extend the capability for supporting collaborative robot operations in outdoor scenarios. However, the restricted battery life of robots still poses a major obstacle to their effective implementation and utilization…
In the context of Intelligent Transportation Systems and the delivery of goods, new technology approaches need to be developed in order to cope with certain challenges that last mile delivery entails, such as navigation in an urban…
Multi-agent systems play an important role in modern robotics. Due to the nature of these systems, coordination among agents via communication is frequently necessary. Indeed, Perception-Action-Communication (PAC) loops, or…
The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities…
Several situations exist where a geographic region of some size needs to be scanned or monitored through many sensors. Still, it is either absolutely impossible or prohibitively expensive to deploy and maintain wireless communication…
Advances in networks, accelerators, and cloud services encourage programmers to reconsider where to compute -- such as when fast networks make it cost-effective to compute on remote accelerators despite added latency. Workflow and…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
This research proposes a distributed switching control to secure multi-robot systems in the presence of cyberattacks. Two major types of cyberattack are considered: deception attack and denial of service (DoS) attack, which compromise the…
In autonomous robotics, a critical challenge lies in developing robust solutions for Active Collaborative SLAM, wherein multiple robots collaboratively explore and map an unknown environment while intelligently coordinating their movements…
This paper proposes an online cross-layered defense strategy for multi-channel systems with switched dynamics under DoS attacks. The enabling condition of a channel under attacks is formulated with respect to attack flow and channel…