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A distributed detection scheme where the sensors transmit with constant modulus signals over a Gaussian multiple access channel is considered. The deflection coefficient of the proposed scheme is shown to depend on the characteristic…
We address the problem of state estimation and attack isolation for general discrete-time nonlinear systems when sensors are corrupted by (potentially unbounded) attack signals. For a large class of nonlinear plants and observers, we…
Distributed task assignment for multiple agents raises fundamental and novel control theory and robotics problems. A new challenge is the development of distributed algorithms that dynamically assign tasks to multiple agents, not relying on…
In this work, we study the problem of dispersion of mobile robots on dynamic rings. The problem of dispersion of $n$ robots on an $n$ node graph, introduced by Augustine and Moses Jr. [1], requires robots to coordinate with each other and…
With the tremendous advances of the wireless devices technology, securing wireless sensor networks became more and more a vital but also a challenging task. In this paper we propose an integrated strategy that is meant to discover malicious…
Traditionally power distribution networks are either not observable or only partially observable. This complicates development and implementation of new smart grid technologies, such as those related to demand response, outage detection and…
We propose a distributed algorithm for time synchronization in mobile wireless sensor networks. Each node can employ the algorithm to estimate the global time based on its local clock time. The problem of time synchronization is formulated…
Anomaly detection is a crucial task in complex distributed systems. A thorough understanding of the requirements and challenges of anomaly detection is pivotal to the security of such systems, especially for real-world deployment. While…
We study the problem of patrolling the nodes of a network collaboratively by a team of mobile agents, such that each node of the network is visited by at least one agent once in every $I(n)$ time units, with the objective of minimizing the…
We consider a network of sensors deployed to sense a spatio-temporal field and estimate a parameter of interest. We are interested in the case where the temporal process sensed by each sensor can be modeled as a state-space process that is…
A nearest neighbor-based detection scheme against load redistribution attacks is presented. The detector is designed to scale from small to very large systems while guaranteeing consistent detection performance. Extensive testing is…
A variety of problems in distributed control involve a networked system of autonomous agents cooperating to carry out some complex task in a decentralized fashion, e.g., orienting a flock of drones, or aggregating data from a network of…
Location-based services in a wireless network require nodes to know their locations accurately. Conventional solutions rely on contention-based medium access, where only one node can successfully transmit at any time in any neighborhood. In…
Conventional radar segmentation research has typically focused on learning category labels for different moving objects. Although fundamental differences between radar and optical sensors lead to differences in the reliability of predicting…
Due to the increasing complexity and interconnectedness of different components in modern automotive software systems there is a great number of interactions between these system components and their environment. These interactions result…
To perform cooperative tasks in a decentralized manner, multi-robot systems are often required to communicate with each other. Therefore, maintaining the communication graph connectivity is a fundamental issue when roaming a territory with…
We introduce the concept of continuous transportation task to the context of multi-agent systems. A continuous transportation task is one in which a multi-agent team visits a number of fixed locations, picks up objects, and delivers them to…
Sparse static detector networks in urban environments can be used in efforts to detect illicit radioactive sources, such as stolen nuclear material or radioactive "dirty bombs". We use detailed simulations to evaluate multiple…
A Sensor network generally has a large number of sensor nodes that are deployed at some audited site. In most sensor networks the nodes are static. Nevertheless, node connectivity is subject to changes because of disruptions in wireless…
In this paper, we study stateless and stateful physics-based anomaly detection scenarios via distributed estimation over sensor networks. In the stateful case, the detector keeps track of the sensor residuals (i.e., the difference of…