相关论文: Distributed Navigation Algorithms for Sensor Netwo…
Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…
We show that a distributed network of robots or other devices which make measurements of each other can collaborate to globally localise via efficient ad-hoc peer to peer communication. Our Robot Web solution is based on Gaussian Belief…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
In this paper, we describe a conceptual design methodology to design distributed neural network architectures that can perform efficient inference within sensor networks with communication bandwidth constraints. The different sensor…
The presence of embedded electronics and communication capabilities as well as sensing and control in smart devices has given rise to the novel concept of cyber-physical networks, in which agents aim at cooperatively solving complex tasks…
Large-scale neuromorphic architectures consist of computing tiles that communicate spikes using a shared interconnect. The communication patterns in such systems are inherently sparse, asynchronous, and localized due to the spiking nature…
Solving linear programs is often a challenging task in distributed settings. While there are good algorithms for solving packing and covering linear programs in a distributed manner (Kuhn et al.~2006), this is essentially the only class of…
We analyze the problem of localization algorithms for underwater sensor networks. We first characterize the underwater channel for radio communications and adjust a linear model with measurements of real transmissions. We propose an…
DCOP algorithms usually rely on interaction graphs to operate. In open and dynamic environments, such methods need to address how this interaction graph is generated and maintained among agents. Existing methods require reconstructing the…
Sensor nodes are low cost, low power devices that are used to collect physical data and monitor environmental conditions from remote locations. Wireless Sensor Networks(WSN) are collection of sensor nodes, coordinating among themselves to…
Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
High-speed, low-latency obstacle avoidance that is insensitive to sensor noise is essential for enabling multiple decentralized robots to function reliably in cluttered and dynamic environments. While other distributed multi-agent collision…
We consider the following distributed pursuit-evasion problem. A team of mobile agents called searchers starts at an arbitrary node of an unknown $n$-node network. Their goal is to execute a search strategy that guarantees capturing a fast…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
In the area of distributed graph algorithms a number of network's entities with local views solve some computational task by exchanging messages with their neighbors. Quite unfortunately, an inherent property of most existing distributed…
Due to their ability to move without sliding relative to their environment, soft growing robots are attractive for deploying distributed sensor networks in confined spaces. Sensing of the state of such robots would also add to their…
It has been shown that cooperative localization is capable of improving both the positioning accuracy and coverage in scenarios where the global positioning system (GPS) has a poor performance. However, due to its potentially excessive…
Emerging Low Earth Orbit (LEO) broadband constellations hold significant potential to provide advanced Internet services due to inherent geometric features of the grid topology. However, high dynamics, unstable topology changes, and…
Intelligent transportation systems have recently emerged to address the growing interest for safer, more efficient, and sustainable transportation solutions. In this direction, this paper presents distributed algorithms for control and…