Related papers: Detecting Separation in Robotic and Sensor Network…
We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which it is based.…
This paper deals with the problem of designing a distributed fault detection and isolation algorithm for nonlinear large-scale systems that are subjected to multiple fault modes. To solve this problem, a network of communicating detection…
The well-studied DISPERSION problem is a fundamental coordination problem in distributed robotics, where a set of mobile robots must relocate so that each occupies a distinct node of a network. DISPERSION assumes that a robot can settle at…
This paper concerns the consensus and formation of a network of mobile autonomous agents in adversarial settings where a group of malicious (compromised) agents are subject to deception attacks. In addition, the communication network is…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
In long-term deployments of sensor networks, monitoring the quality of gathered data is a critical issue. Over the time of deployment, sensors are exposed to harsh conditions, causing some of them to fail or to deliver less accurate data.…
This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and…
This paper deals with a distributed state estimation problem for jointly observable multi-agent systems operated over various time-varying network topologies. The results apply when the system matrix of the system to be observed contains…
We study a problem of distributed detection of a stationary point event in a large extent wireless sensor network ($\wsn$), where the event influences the observations of the sensors only in the vicinity of where it occurs. An event occurs…
Network systems have become a ubiquitous modeling tool in many areas of science where nodes in a graph represent distributed processes and edges between nodes represent a form of dynamic coupling. When a network topology is already known…
This paper investigates sensor scheduling for state estimation of complex networks over shared transmission channels. For a complex network of dynamical systems, referred to as nodes, a sensor network is adopted to measure and estimate the…
In this paper, we study the problem of localizing the sensors' positions in presence of denial-of-service (DoS) attacks. We consider a general attack model, in which the attacker action is only constrained through the frequency and duration…
We propose a methodology to detect and isolate link failures in a weighted and directed network of identical multi-input multi-output LTI systems when only the output responses of a subset of nodes are available. Our method is based on the…
In this paper, given a random uniform distribution of sensor nodes on a 2-D plane, a fast self-organized distributed algorithm is proposed to find the maximum number of partitions of the nodes such that each partition is connected and…
A wide variety of natural and human-made systems consist of a large set of dynamical units coupled into a complex structure. Breakdown of such systems can have a dramatic impact, as in the case of neurons in the brain or lines in an…
In this paper a property of the multi-agent consensus dynamics that relates the failure of links in the network to jump discontinuities in the derivatives of the output responses of the nodes is derived and verified analytically. At the…
We consider nonparametric sequential hypothesis testing problem when the distribution under the null hypothesis is fully known but the alternate hypothesis corresponds to some other unknown distribution with some loose constraints. We…
Distributed Systems involve two or more computer systems which may be situated at geographically distinct locations and are connected by a communication network. Due to failures in the communication link, faults arise which may make the…
This paper addresses the problem of detecting possible intruders in a group of autonomous robots, which coexist in a shared environment and interact with each other according to a set of "social behaviors", or common rules. Such rules…
Patrolling with multiple robots offers efficient surveillance to detect and manage undesired situations. This necessitates improved patrol efficiency and operator situation awareness at base stations. Enhanced situation awareness enables…