Related papers: Gossip Coverage Control for Robotic Networks: Dyna…

We study a general framework for broadcast gossip algorithms which use companion variables to solve the average consensus problem. Each node maintains an initial state and a companion variable. Iterative updates are performed asynchronously…

Most current results on coverage control using mobile sensors require that one partitioned cell is associated with precisely one sensor. In this paper, we consider a class of coverage control problems involving higher order Voronoi…

We consider open multi-agent systems, which are systems subject to frequent arrivals and departures of agents while the studied process takes place. We study the behavior of all-to-all pairwise gossip interactions in such open systems.…

In this paper we propose an application of adaptive synchronization of chaos to detect changes in the topology of a mobile robotic network. We assume that the network may evolve in time due to the relative motion of the mobile robots and…

In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…

We study the problem of allocating many mobile robots for the execution of a pre-defined sweep schedule in a known two-dimensional environment, with applications toward search and rescue, coverage, surveillance, monitoring, pursuit-evasion,…

We study distributed planning for multi-robot systems to provide optimal service to cooperative tasks that are distributed over space and time. Each task requires service by sufficiently many robots at the specified location within the…

Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…

This paper describes and analyzes a hierarchical gossip algorithm for solving the distributed average consensus problem in wireless sensor networks. The network is recursively partitioned into subnetworks. Initially, nodes at the finest…

Authors compare different ways of selecting change agents within network analysis paradigm and propose a new algorithm of doing so. All methods are evaluated against network coverage measure that calculates how many network members can be…

The problem of maintaining a wireless communication link between a fixed base station and an autonomous agent by means of a team of mobile robots is addressed in this work. Such problem can be of interest for search and rescue missions in…

Robotic swarms and mobile sensor networks are used for environmental monitoring in various domains and areas of operation. Especially in otherwise inaccessible environments decentralized robotic swarms can be advantageous due to their high…

In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…

Effective communication is required for teams of robots to solve sophisticated collaborative tasks. In practice it is typical for both the encoding and semantics of communication to be manually defined by an expert; this is true regardless…

Collaboration is a fundamental and essential characteristic of many complex systems, ranging from ant colonies to human societies. Each component within a complex system interacts with others, even at a distance, to accomplish a given task.…

We study the problem of gossip in dynamic networks controlled by an adversary that can modify the network arbitrarily from one round to another, provided that the network is always connected. In the gossip problem, $n$ tokens are…

Efficient and robust algorithms for decentralized estimation in networks are essential to many distributed systems. Whereas distributed estimation of sample mean statistics has been the subject of a good deal of attention, computation of…

This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…

In the present work we address the problem of deploying a team of robots in a scenario where some locations of interest must be reached. Thus, a planning for a deployment is required, before sending the robots. The obstacles, the limited…

Autonomous robot networks are an effective tool for monitoring large-scale environmental fields. This paper proposes distributed control strategies for localizing the source of a noisy signal, which could represent a physical quantity of…