Related papers: Detecting Separation in Robotic and Sensor Network…
A distributed data collection algorithm to accurately store and forward information obtained by wireless sensor networks is proposed. The proposed algorithm does not depend on the sensor network topology, routing tables, or geographic…
The ability to detect faults is an important safety feature for event-based multi-agent systems. In most existing algorithms, each agent tries to detect faults by checking its own behavior. But what if one agent becomes unable to recognize…
We address the problem of attack detection and isolation for a class of discrete-time nonlinear systems under (potentially unbounded) sensor attacks and measurement noise. We consider the case when a subset of sensors is subject to additive…
We investigate the problem of distributed sensors' failure detection in networks with a small number of defective sensors, whose measurements differ significantly from neighboring sensor measurements. Defective sensors are represented by…
We study joint compression and detection in distributed sensing systems motivated by emerging applications such as IoT-based localization. Two spatially separated sensors observe noisy signals and can exchange only a $k$-bit message over a…
Self-stabilization is a versatile technique to withstand any transient fault in a distributed system. Mobile robots (or agents) are one of the emerging trends in distributed computing as they mimic autonomous biologic entities. The…
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…
Assuming a random uniform distribution of n sensor nodes over a virtual grid, this paper addresses the problem of finding the maximum number of connected set covers each ensuring 100% coverage of the query region. The connected sets remain…
This paper addresses the problem of distributed detection in fixed and switching networks. A network of agents observe partially informative signals about the unknown state of the world. Hence, they collaborate with each other to identify…
A sensor network is considered where at each sensor a sequence of random variables is observed. At each time step, a processed version of the observations is transmitted from the sensors to a common node called the fusion center. At some…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
We investigate the problem of jointly testing two hypotheses and estimating a random parameter based on data that is observed sequentially by sensors in a distributed network. In particular, we assume the data to be drawn from a Gaussian…
The Freeze Tag Problem consists in waking up a swarm of robots starting with one initially awake robot. Whereas there is a wide literature of the centralized setting, where the location of the robots is known in advance, we focus in the…
We consider the problem where a network of sensors has to detect the presence of targets at any of $n$ possible locations in a finite region. All such locations may not be occupied by a target. The data from sensors is fused to determine…
This paper studies a distributed state estimation problem for both continuous- and discrete-time linear systems. A simply structured distributed estimator (comprising interconnected local estimators) is first described for estimating the…
Detecting malicious activity within an enterprise computer network can be framed as a temporal link prediction task: given a sequence of graphs representing communications between hosts over time, the goal is to predict which edges…
This paper presents the formulation of fault detection and accommodation schemes for a network of autonomous agents running internal model-based dynamic average consensus algorithms. We focus on two types of consensus algorithms, one that…
When deploying modern machine learning-enabled robotic systems in high-stakes applications, detecting distribution shift is critical. However, most existing methods for detecting distribution shift are not well-suited to robotics settings,…
This work examines the close interplay between cooperation and adaptation for distributed detection schemes over fully decentralized networks. The combined attributes of cooperation and adaptation are necessary to enable networks of…
This paper considers the problem of detecting impaired and noisy nodes over network. In a distributed algorithm, lots of processing units are incorporating and communicating with each other to reach a global goal. Due to each one's state in…