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In this paper, we study graphs that arise from certain sensory and communication limitations on the local interactions in multi-agent systems. In particular, we show that the set of graphs that can represent formations corresponds to a proper subset of all graphs and we denote such graphs as connectivity graphs. These graphs have a special structure that(More)
— In this paper, we study the problem of verifying dynamic coverage in mobile sensor networks using certain switched linear systems. These switched systems describe the flow of discrete differential forms on time-evolving simplicial complexes. The simplicial complexes model the connectivity of agents in the network, and the homology groups of the simplicial(More)
Irrigation networks play a fundamental part in the agriculture system of various countries. In the wake of global environmental challenges and economic competition, efficient use of water resources has become extremely important. This can only be achieved by developing smarter control infrastructures for irrigation networks, via the incorporation of(More)
The introduction of Kinect-style RGB-D cameras has dramatically revolutionized robotics research in a very short span. However, despite their low cost and excellent indoor performance in comparison with other competing technologies, they face some basic limitations which prevent their use in outdoor environments. Perhaps for the first time, we report an(More)
This paper presents a visual servoing system developed at LUMS for the landmine detecting robot named Marwa. The system is coupled with a robotic arm whose payload is a metal detector. Visual information is provided by a custom built stereo vision system to maintain a fixed orientation and elevation of the metal detecting sensor with respect to the ground(More)