This paper investigates the problem of decentralized task assignment for a fleet of cooperative UAVs. It extends the analysis of a previously proposed algorithm to consider the performance with different communication network topologies. The results show that the second communication step introduced during the planning phase of the new algorithm is crucial for sparse networks because the conver...

When robots perform teamwork in a shared workspace, they might be confronted with the risk of blocking each other’s ways, which will result in conflicts or interference among the robots. How to plan collision-free paths for all the robots is the major challenge issue in the multi-robot cooperative pathfinding problem, in which each robot has to navigate from its starting location to the destina...

The capacity of public roads has become a serious problem all over the world. The traffic is constantly increasing, while the capacity remains almost the same. This causes traffic jams and road accidents. An effective way to increase the road throughput employs vehicular platoons, which allow to decrease inter-vehicle distances without compromising road safety. The urgent necessity to increase ...

Federated learning has emerged as a popular technique for distributing machine (ML) model training across the wireless edge. In this paper, we propose two timescale hybrid federated learning ( TT-HF ), semi-decentralized architec...

We present a decentralized cooperative exploration strategy for mobile robots. A roadmap of the explored area, with the associate safe region, is built in the form of a compact data structure, called Sensor-based Random Graph. This is incrementally expanded by the robots by using a randomized local planner which automatically realizes a trade-off between information gain and navigation cost. Co...

Network services must self-adapt dynamically in order to accommodate available resources, system errors, and changing requirements. This need for self-reliance will increase with the growing flexibility and heterogeneity that characterizes such network technologies as sensor (ad hoc) networking, grid computing, and pervasive computing. The downside of traditional distributed network management ...