相关论文: Fast k-connectivity Restoration in Multi-Robot Sys…
Maintaining a robust communication network plays an important role in the success of a multi-robot team jointly performing an optimization task. A key characteristic of a robust multi-robot system is the ability to repair the communication…
As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…
Communication between robots and the server is a major problem for cloud robotic systems. In this paper, we address the problem caused by data loss during such communications, and propose an efficient buffering algorithm, called AFR, to…
Indoor multi-robot communications face two key challenges: one is the severe signal strength degradation caused by blockages (e.g., walls) and the other is the dynamic environment caused by robot mobility. To address these issues, we…
Image correspondence serves as the backbone for many tasks in robotics, such as visual fusion, localization, and mapping. However, existing correspondence methods do not scale to large multi-robot systems, and they struggle when image…
We study an optimization problem that arises in the design of covering strategies for multi-robot systems. Consider a team of $n$ cooperating robots traveling along predetermined closed and disjoint trajectories. Each robot needs to…
Connectivity maintenance plays a key role in achieving a desired global behavior among a swarm of robots. However, connectivity maintenance in realistic environments is hampered by lack of computation resources, low communication bandwidth,…
Active communication between robots and humans is essential for effective human-robot interaction. To accomplish this objective, Cloud Robotics (CR) was introduced to make robots enhance their capabilities. It enables robots to perform…
Mobile sensor networks (MSNs) have emerged from the interaction between mobile robotics and wireless sensor networks. MSNs can be deployed in harsh environments, where failures in some nodes can partition MSNs into disconnected network…
Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…
Topology control, including topology construction and maintenance phases, is a vital conception for wireless ad-hoc networks of any kind, expressly the wireless sensor networks (WSN). Topology maintenance, the latter phase, concerns several…
Coalition is an important mean of multi-robot systems to collaborate on common tasks. An adaptive coalition strategy is essential for the online performance in dynamic and unknown environments. In this work, the problem of territory defense…
Connectivity maintenance is an essential aspect to consider while controlling a multi-robot system. In general, a multi-robot system should be connected to obtain a certain common objective. Connectivity must be kept regardless of the…
This paper considers the problem of maintaining global connectivity of a multi-robot system while executing a desired coordination task. Our approach builds on optimization-based feedback design formulations, where the nominal cost function…
Federated learning faces challenges due to the heterogeneity in data volumes and distributions at different clients, which can compromise model generalization ability to various distributions. Existing approaches to address this issue based…
In leader-follower consensus, strong r-robustness of the communication graph provides a sufficient condition for followers to achieve consensus in the presence of misbehaving agents. Previous studies have assumed that robots can form and/or…
The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
Recent advances in Low-Power Wide-Area Networks have mitigated interference by using cloud assistance. Those methods transmit the RSSI samples and corrupted packets to the cloud to restore the correct message. However, the effectiveness of…
The problem of multi-robot navigation of connectivity maintenance is challenging in multi-robot applications. This work investigates how to navigate a multi-robot team in unknown environments while maintaining connectivity. We propose a…
In this paper we present a fast and efficient method for the reconstruction of Magnetic Resonance Images (MRI) from severely under-sampled data. From the Compressed Sensing theory we have mathematically modeled the problem as a constrained…