相关论文: Statistical Characterization of Closed-Loop Latenc…

Achieving an end-to-end low-latency for computations offloading, in Mobile Edge Computing (MEC) systems, is still a critical design problem. This is because the offloading of computational tasks via the MEC servers entails the use of uplink…

We consider a multi-user multi-server mobile edge computing (MEC) system, in which users arrive on a network randomly over time and generate computation tasks, which will be computed either locally on their own computing devices or be…

Collaborative edge computing (CEC) is an emerging paradigm for heterogeneous devices to collaborate on edge computation jobs. For congestible links and computing units, delay-optimal forwarding and offloading for service chain tasks (e.g.,…

Haptic teleoperation typically demands sub-millisecond latency and ultra-high reliability (99.999%) in Tactile Internet. At a 1 kHz haptic signal sampling rate, this translates into an extremely high packet transmission rate, posing…

Multi-access edge computing (MEC) is a promising solution for providing the computational resources and low latency required by vehicular services such as autonomous driving. It enables cars to offload computationally intensive tasks to…

In this paper we study a multi-robot path planning problem for persistent monitoring of an environment. We represent the areas to be monitored as the vertices of a weighted graph. For each vertex, there is a constraint on the maximum time…

In mobile computation offloading (MCO), mobile devices (MDs) can choose to either execute tasks locally or to have them executed on a remote edge server (ES). This paper addresses the problem of assigning both the wireless communication…

Teleoperated or remote-controlled driving complements automated driving and acts as transitional technology toward full automation. An economic advantage of teleoperated driving in logistics operations lies in managing fleets with fewer…

We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…

Mobile-edge computing (MEC) has emerged as a promising paradigm for enabling Internet of Things (IoT) devices to handle computation-intensive jobs. Due to the imperfect parallelization of algorithms for job processing on servers and the…

By exploiting the superiority of non-orthogonal multiple access (NOMA), NOMA-aided mobile edge computing (MEC) can provide scalable and low-latency computing services for the Internet of Things. However, given the prevalent stochasticity of…

Closed-loop flow control protocols, such as the prominent implementation TCP, are prevalent in the Internet, today. TCP has continuously been improved for greedy traffic sources to achieve high throughput over networks with large bandwidth…

Accurate and high-fidelity demonstration data acquisition is a critical bottleneck for deploying robot Imitation Learning (IL) systems, particularly when dealing with heterogeneous robotic platforms. Existing teleoperation systems often…

This study proposes an approach to human-to-humanoid teleoperation using GAN-based online motion retargeting, which obviates the need for the construction of pairwise datasets to identify the relationship between the human and the humanoid…

In this study, we investigate the resource management challenges in next-generation mobile crowdsensing networks with the goal of minimizing task completion latency while ensuring coverage performance, i.e., an essential metric to ensure…

We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…

Future Tele-operated Driving (ToD) applications place challenging Quality of Service (QoS) demands on existing mobile communication networks that are of highly important to comply with for safe operation. New remote control and platooning…

We study joint optimization of service placement, request routing, and CPU sizing in a cooperative MEC system. The problem is considered from the perspective of the service provider (SP), which delivers heterogeneous MEC-enabled…

The European Proximity Operation Simulator (EPOS) of the DLR-German Aerospace Center is a robotics-based simulator that aims at validating and verifying a satellite docking phase. The generic concept features a robotics tracking system…

Variable stiffness actuators undergo lower peak force in contacts compared to their rigid counterparts, and are thus safer for human-robot interaction. Furthermore, they can store energy in their elastic element and can release it later to…