相关论文: Control-Oriented Deep Space Communications For Unm…
This work presents a novel algorithm for impulsive optimal control of linear time-varying systems with the inclusion of input magnitude constraints. Impulsive optimal control problems, where the optimal input solution is a sum of delta…
An increasing number of field robots would be used for mission-critical tasks in remote or post-disaster areas. Due to the limited individual abilities, these robots usually require an edge information hub (EIH), with not only communication…
Powered by renewable energy sources, cellular communication systems usually have different wireless traffic loads and available resources over time. To match their traffics, it is beneficial for two neighboring systems to cooperate in…
In this paper, we study the resource allocation and trajectory design for energy-efficient secure unmanned aerial vehicle (UAV) communication systems where a UAV base station serves multiple legitimate ground users in the existence of a…
Communication-aware trajectory generation for unmanned aerial vehicles (UAVs) operating in urban environments requires simultaneous consideration of vehicle dynamics, wireless communication quality, obstacle avoidance, and onboard energy…
Many problems of interest for cyber-physical network systems can be formulated as Mixed Integer Linear Programs in which the constraints are distributed among the agents. In this paper we propose a distributed algorithm to solve this class…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
Unmanned aerial vehicles (UAVs) are anticipated to be widely deployed in future wireless communications, due to their advantages of high mobility and easy deployment. However, the broadcast nature of air-to-ground line-of-sight wireless…
We introduce a reduced-communication distributed optimization scheme based on estimating the solution to a proximal minimization problem. Our proposed setup involves a group of agents coordinated by a central entity, altogether operating in…
Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a…
Optimal control problems with discrete-valued inputs are inherently challenging due to their mixed-integer nature, rendering them generally intractable for real-time, safety-critical aerospace applications. Lossless convexification offers a…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
Unmanned aerial vehicles (UAVs) can provide wireless access to terrestrial users, regardless of geographical constraints, and will be an important part of future communication systems. In this paper, a multi-user downlink dual-UAVs enabled…
In this paper we present a hierarchical multi-rate control architecture for nonlinear autonomous systems operating in partially observable environments. Control objectives are expressed using syntactically co-safe Linear Temporal Logic…
This paper investigates a new spectrum sharing scenario between unmanned aerial vehicle (UAV) and terrestrial wireless communication systems. We consider that a cognitive/secondary UAV transmitter communicates with a ground secondary…
Feedback optimization enables autonomous optimality seeking of a dynamical system through its closed-loop interconnection with iterative optimization algorithms. Among various iteration structures, model-based approaches require the…
In this paper, we investigate a distributed multi-input multi-output and orthogonal frequency division multiplexing (MIMO-OFDM) dual-function radar-communication (DFRC) system, which enables simultaneous communication and sensing in…
This paper studies a secrecy unmanned aerial vehicle (UAV) communication system with coordinated multi-point (CoMP) reception, in which one UAV sends confidential messages to a set of distributed ground nodes (GNs) that can cooperate in…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…