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

We consider a rate-splitting multiple access (RSMA)-based communication and radar coexistence (CRC) system. The proposed system allows an RSMA-based communication system to share spectrum with multiple radars. Furthermore, RSMA enables…

Ensuring strict safety guarantees is the paramount challenge for emerging 5G/6G wireless systems, particularly as they increasingly govern mission-critical applications ranging from autonomous UAV swarms to industrial automation. While deep…

We present a simple and natural extension of the multi-robot motion planning problem where the robots are partitioned into groups (colors), such that in each group the robots are interchangeable. Every robot is no longer required to move to…

Data heterogeneity has been a long-standing bottleneck in studying the convergence rates of Federated Learning algorithms. In order to better understand the issue of data heterogeneity, we study the convergence rate of the…

In a distributed storage system, recovering from multiple failures is a critical and frequent task that is crucial for maintaining the system's reliability and fault-tolerance. In this work, we focus on the problem of repairing multiple…

The problem of multi-robot coverage control becomes significantly challenging when multiple robots leave the mission space simultaneously to charge their batteries, disrupting the underlying network topology for communication and sensing.…

In many cases the multi-robot systems are desired to execute simultaneously multiple behaviors with different controllers, and sequences of behaviors in real time, which we call \textit{behavior mixing}. Behavior mixing is accomplished when…

An optimization problem is at the heart of many robotics estimating, planning, and optimum control problems. Several attempts have been made at model-based multi-robot localization, and few have formulated the multi-robot collaborative…

Dynamic network reconfiguration is described as the process of replacing one routing function with another while the network keeps running. The main challenge is avoiding deadlock anomalies while keeping limitations on message injection and…

The rise of multi-section continuum robots (CRs) has captivated researchers and practitioners across diverse industries and medical fields. Accurate modeling of these dexterous manipulators continues to be a significant challenge. This…

This paper proposes a novel data-driven control strategy for maintaining connectivity in networked multi-robot systems. Existing approaches often rely on a pre-determined communication model specifying whether pairwise robots can…

As a prevalent distributed learning paradigm, Federated Learning (FL) trains a global model on a massive amount of devices with infrequent communication. This paper investigates a class of composite optimization and statistical recovery…

A $k$-defective clique of an undirected graph $G$ is a subset of its vertices that induces a nearly complete graph with a maximum of $k$ missing edges. The maximum $k$-defective clique problem, which asks for the largest $k$-defective…

In a multi-robot system, the appropriate allocation of the tasks to the individual robots is a very significant component. The availability of a centralized infrastructure can guarantee an optimal allocation of the tasks. However, in many…

The network connectivity in a group of cooperative robots can be easily broken if one of them loses its connectivity with the rest of the group. In case of having robustness with respect to one-robot-fail, the communication network is…

The dispersion problem on graphs requires $k$ robots placed arbitrarily at the $n$ nodes of an anonymous graph, where $k \leq n$, to coordinate with each other to reach a final configuration in which each robot is at a distinct node of the…

Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…

In the $k$-Edge Connected Spanning Subgraph ($k$-ECSS) problem we are given a (multi-)graph $G=(V,E)$ with edge costs and an integer $k$, and seek a min-cost $k$-edge-connected spanning subgraph of $G$. The problem admits a…

Systems of networked mobile robots, such as unmanned aerial or ground vehicles, will play important roles in future military and commercial applications. The communications for such systems will typically be over wireless links and may…

Research in semantic communication has garnered considerable attention, particularly in the area of image transmission, where joint source-channel coding (JSCC)-based neural network (NN) modules are frequently employed. However, these…