Related papers: Gossip Coverage Control for Robotic Networks: Dyna…
In this paper, we study gossip algorithms in communication models that describe the peer-to-peer networking functionality included in most standard smartphone operating systems. We begin by describing and analyzing a new synchronous gossip…
Coverage control has been widely used for constructing mobile sensor network such as for environmental monitoring, and one of the most commonly used methods is the Lloyd algorithm based on Voronoi partitions. However, when this method is…
Gossip algorithms is a common term to describe protocols for unreliable information dissemination in natural networks, which are not optimally designed for efficient communication between network entities. We consider application of gossip…
Gossip algorithms spread information by having nodes repeatedly forward information to a few random contacts. By their very nature, gossip algorithms tend to be distributed and fault tolerant. If done right, they can also be fast and…
This paper presents a novel dynamic coverage control algorithm allowing a group of robots to track an optimal-deployment configuration for arbitrary time-varying density functions. Building on singular perturbation theory, the proposed…
Autonomous drone swarms deployed for surveillance, environmental monitoring, and infrastructure inspection must maintain reliable coverage of critical assets despite robot failures. This requires multicoverage: each asset must be observed…
Gossiping is a communication mechanism, used for fast information dissemination in a network, where each node of the network randomly shares its information with the neighboring nodes. To characterize the notion of fastness in the context…
We propose a novel framework for real-time communication-aware coverage control in networked robot swarms. Our framework unifies the robot dynamics with network-level message-routing to reach consensus on swarm formations in the presence of…
It is always a challenging task for multi-agent systems to achieve efficient and robust coverage in uncertain environments. The absence of global positioning information on the uncertain environment introduces significant complexity to the…
The uprising interest in multi-agent based networked system, and the numerous number of applications in the distributed control of the smart grid leads us to address the problem of time synchronization in the smart grid. Utility companies…
Multi-robot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multi-robot team for…
In this paper, we consider a class of workspace partitioning problems that arise in the context of area coverage and spatial load balancing for spatially distributed heterogeneous multi-agent networks. It is assumed that each agent has…
This paper addresses the sweep coverage problem of multi-agent systems in uncertain regions. A new formulation of distributed sweep coverage is proposed to cooperatively complete the workload in the uncertain region. Specifically, each…
In this paper, we consider a randomized gossip algorithm for the bearing-based network localization problem. Let each sensor node be able to obtain the bearing vectors and communicate its position estimates with several neighboring agents.…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
In this paper, we study an asynchronous randomized gossip algorithm under unreliable communication. At each instance, two nodes are selected to meet with a given probability. When nodes meet, two unreliable communication links are…
Broadcasting and gossiping are fundamental communication tasks in networks. In broadcasting,one node of a network has a message that must be learned by all other nodes. In gossiping, every node has a (possibly different) message, and all…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
This work addresses the collaborative multi-robot autonomous online exploration problem, particularly focusing on distributed exploration planning for dynamically balanced exploration area partition and task allocation among a team of…