相关论文: Control-Oriented Deep Space Communications For Unm…

Designing policies for a network of agents is typically done by formulating an optimization problem where each agent has access to state measurements of all the other agents in the network. Such policy designs with centralized information…

Exploration of extreme or remote environments such as Mars is often recognized as an opportunity for multi-robot systems. However, this poses challenges for maintaining robust inter-robot communication without preexisting infrastructure. It…

This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…

This paper considers a multi-cell AirComp network and investigates the optimal power control policies over multiple cells to regulate the effect of inter-cell interference. First, we consider the scenario of centralized multi-cell power…

In this paper, we propose a novel resource management scheme that jointly allocates the transmit power and computational resources in a centralized radio access network architecture. The network comprises a set of computing nodes to which…

Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…

MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…

Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…

This paper investigates a multi-Unmanned Aerial Vehicle (UAV) joint base station-assisted Internet of Vehicles (IoV) task offloading system in dense urban environments. To minimize system delay and energy consumption under strict coupling…

In this paper, we study the resource allocation and trajectory design for secure unmanned aerial vehicle (UAV)-enabled communication systems, where multiple multi-purpose UAV base stations are dispatched to provide secure communications to…

In this paper, we investigate the uplink (UL) radio resource management for 5G aerial corridors with an open-radio access network (O-RAN)-enabled cell-free (CF) massive multiple-input multiple-output (mMIMO) system. Our objective is to…

This paper considers coordinated multicast beamforming in a multi-cell multigroup multiple-input single-output system. Each base station (BS) serves multiple groups of users by forming a single beam with common information per group. We…

This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…

We present a new class of decentralized first-order methods for nonsmooth and stochastic optimization problems defined over multiagent networks. Considering that communication is a major bottleneck in decentralized optimization, our main…

This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to…

We propose a distributed algorithm, named Distributed Alternating Direction Method of Multipliers (D-ADMM), for solving separable optimization problems in networks of interconnected nodes or agents. In a separable optimization problem there…

Multi-access edge computing (MEC) is regarded as a promising technology in the sixth-generation communication. However, the antenna gain is always affected by the environment when unmanned aerial vehicles (UAVs) are served as MEC platforms,…

User scheduling and beamforming design are two crucial yet coupled topics for wireless communication systems. They are usually optimized separately with conventional optimization methods. In this paper, a novel cross-layer optimization…

Motivated by exploration of communication-constrained underground environments using robot teams, we study the problem of planning for intermittent connectivity in multi-agent systems. We propose a novel concept of information-consistency…

We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…