相关论文: Distributed Navigation Algorithms for Sensor Netwo…

For a multi-robot team that collaboratively explores an unknown environment, it is of vital importance that collected information is efficiently shared among robots in order to support exploration and navigation tasks. Practical constraints…

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.…

This paper investigates the problem of informative path planning for a mobile robotic sensor network in spatially temporally distributed mapping. The robots are able to gather noisy measurements from an area of interest during their…

Distributed processing of large-scale graph data has many practical applications and has been widely studied. In recent years, a lot of distributed graph processing frameworks and algorithms have been proposed. While many efforts have been…

We initiate the study of deterministic distributed graph algorithms with predictions in synchronous message passing systems. The process at each node in the graph is given a prediction, which is some extra information about the problem…

The back-end module of Distributed Collaborative Simultaneous Localization and Mapping (DCSLAM) requires solving a nonlinear Pose Graph Optimization (PGO) under a distributed setting, also known as SE(d)-synchronization. Most existing…

Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…

This paper studies a graph-based sensor deployment approach in wireless sensor networks (WSNs). Specifically, in today's world, where sensors are everywhere, detecting various attributes like temperature and movement, their deteriorating…

The problem of identifying the k-shortest paths KSPs for short in a dynamic road network is essential to many location-based services. Road networks are dynamic in the sense that the weights of the edges in the corresponding graph…

Real-time visual analysis tasks, like tracking and recognition, require swift execution of computationally intensive algorithms. Visual sensor networks can be enabled to perform such tasks by augmenting the sensor network with processing…

This paper addresses the distributed localization problem for a network of sensors placed in a three-dimensional space, in which sensors are able to perform range measurements, i.e., measure the relative distance between them, and exchange…

In distributed networks, it is often useful for the nodes to be aware of dense subgraphs, e.g., such a dense subgraph could reveal dense subtructures in otherwise sparse graphs (e.g. the World Wide Web or social networks); these might…

Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…

This paper presents coordination algorithms for groups of mobile agents performing deployment and coverage tasks. As an important modeling constraint, we assume that each mobile agent has a limited sensing/communication radius. Based on the…

Distributed gathering algorithms aim to achieve complete visibility graphs via a "never lose a neighbour" policy. We suggest a method to maintain connected graph topologies, while reducing the number of effective edges in the graph to order…

Distributed graph signal processing algorithms require the network nodes to communicate by exchanging messages in order to achieve a common objective. These messages have a finite precision in realistic networks, which may necessitate to…

We present a novel algorithm for dynamic routing with dedicated path protection which, as the presented simulation results suggest, can be efficient and exact. We present the algorithm in the setting of optical networks, but it should be…

Shortest Path (SP) computation is a fundamental operation in many real-life applications such as navigation on road networks, link analysis on social networks, etc. These networks tend to be massive, and graph partitioning is commonly…

We investigate an existing distributed algorithm for learning sparse signals or data over networks. The algorithm is iterative and exchanges intermediate estimates of a sparse signal over a network. This learning strategy using exchange of…

In this paper we propose distributed flooding-based storage algorithms for large-scale wireless sensor networks. Assume a wireless sensor network with $n$ nodes that have limited power, memory, and bandwidth. Each node is capable of both…