相关论文: Fast k-connectivity Restoration in Multi-Robot Sys…

UAV swarms are widely used in emergency communications, area monitoring, and disaster relief. Coordinated by control centers, they are ideal for federated learning (FL) frameworks. However, current UAV-assisted FL methods primarily focus on…

Communication connectivity is desirable for safe and efficient operation of multi-robot systems. While decentralized algorithms for connectivity maintenance have been explored in recent literature, the majority of these works do not account…

Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in control from cable-related effects such as cable stretching…

Damage recovery is critical for autonomous robots that need to operate for a long time without assistance. Most current methods are complex and costly because they require anticipating each potential damage in order to have a contingency…

Modern machine learning (ML) models have grown to a scale where training them on a single machine becomes impractical. As a result, there is a growing trend to leverage federated learning (FL) techniques to train large ML models in a…

Operating under real world conditions is challenging due to the possibility of a wide range of failures induced by execution errors and state uncertainty. In relatively benign settings, such failures can be overcome by retrying or executing…

Scalability is the key roadstone towards the application of cooperative intelligent algorithms in large-scale networks. Reinforcement learning (RL) is known as model-free and high efficient intelligent algorithm for communication problems…

Gradient compression alleviates expensive communication in distributed deep learning by sending fewer values and its corresponding indices, typically via Allgather (AG). Training with high compression ratio (CR) achieves high accuracy like…

We address the problem of maintaining resource availability in a networked multi-robot team performing distributed tracking of unknown number of targets in an environment of interest. Based on our model, robots are equipped with sensing and…

Robots, particularly in service and companionship roles, must develop positive relationships with people they interact with regularly to be successful. These positive human-robot relationships can be characterized as establishing "rapport,"…

The coordination of robotic swarms and the remote wireless control of industrial systems are among the major use cases for 5G and beyond systems: in these cases, the massive amounts of sensory information that needs to be shared over the…

This work considers a dual-functional radar and communication (DFRC) system with an active reconfigurable intelligent surface (RIS) and a potential eavesdropper. Our purpose is to maximize the secrecy rate (SR) of the system by jointly…

Federated learning (FL) offers a promising distributed learning paradigm for internet of vehicles (IoV) applications. However, it faces challenges from communication overhead and dynamic environments. Model compression techniques reduce…

With the rapid growth of services that stream to groups of users comes an increased importance of and demand for reliable multicast. In this paper, we turn to software-defined networking and develop a novel general-purpose multi-failure…

Fall recovery for legged robots remains challenging, particularly on complex terrains where traditional controllers fail due to incomplete terrain perception and uncertain interactions. We present \textbf{FR-Net}, a learning-based framework…

Distributionally Robust Optimization (DRO), which aims to find an optimal decision that minimizes the worst case cost over the ambiguity set of probability distribution, has been widely applied in diverse applications, e.g., network…

In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…

This paper deals with the rotation synchronization problem, which arises in global registration of 3D point-sets and in structure from motion. The problem is formulated in an unprecedented way as a "low-rank and sparse" matrix decomposition…

It is anticipated that integrating unmanned aerial vehicles (UAVs) with reconfigurable intelligent surfaces (RISs), resulting in RIS-assisted UAV networks, will offer improved network connectivity against node failures for the beyond 5G…

Efficient utilization of cooperating robots in the assembly of aircraft structures relies on balancing the workload of the robots and ensuring collision-free scheduling. We cast this problem as that of allocating a large number of…