相关论文: WiSER-X: Wireless Signals-based Efficient Decentra…
In this paper, we present a communication-free algorithm for distributed coverage of an arbitrary network by a group of mobile agents with local sensing capabilities. The network is represented as a graph, and the agents are arbitrarily…
This invited paper presents some novel ideas on how to enhance the performance of consensus algorithms in distributed wireless sensor networks, when communication costs are considered. Of particular interest are consensus algorithms that…
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…
Wireless devices need spectrum to communicate. With the increase in the number of devices competing for the same spectrum, it has become nearly impossible to support the throughput requirements of all the devices through current spectrum…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
This paper presents a LiDAR-based end-to-end autonomous driving method with Vehicle-to-Everything (V2X) communication integration, termed V2X-Lead, to address the challenges of navigating unregulated urban scenarios under mixed-autonomy…
An Optimal Transport (OT)-based decentralized collaborative multi-robot exploration strategy is proposed in this paper. This method is to achieve an efficient exploration with a predefined priority in the given domain. In this context, the…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
In this paper, we propose a multiobjective optimization framework for the sensor selection problem in uncertain Wireless Sensor Networks (WSNs). The uncertainties of the WSNs result in a set of sensor observations with insufficient…
Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localization and communication infrastructure. This technology is…
Swarm robotic search is concerned with searching targets in unknown environments (e.g., for search and rescue or hazard localization), using a large number of collaborating simple mobile robots. In such applications, decentralized swarm…
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…
Existing information theoretic work in decentralized detection is largely focused on parallel configuration of Wireless Sensor Networks (WSNs), where an individual hard or soft decision is computed at each sensor node and then transmitted…
An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots…
This paper presents the WiFi-Sensor-for-Robotics (WSR) toolbox, an open source C++ framework. It enables robots in a team to obtain relative bearing to each other, even in non-line-of-sight (NLOS) settings which is a very challenging…
Collaborative perception is vital for autonomous driving yet remains constrained by tight communication budgets. Earlier work reduced bandwidth by compressing full feature maps with fixed-rate encoders, which adapts poorly to a changing…
Volumetric objectives for exploration and perception tasks seek to capture a sense of value (or reward) for hypothetical observations at one or more camera views for robots operating in unknown environments. For example, a volumetric…
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…
Recent interest towards autonomous navigation and exploration robots for indoor applications has spurred research into indoor Simultaneous Localization and Mapping (SLAM) robot systems. While most of these SLAM systems use Visual and LiDAR…
In this work, it is presented the development of a novel distributed algorithm performing robotic coverage, clustering and dispatch around an event in static-obstacle structured environments without relying on metric information.…