Related papers: Fault and Byzantine Tolerant Self-stabilizing Mobi…
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…
In this paper, the parking problem of a swarm of mobile robots has been studied. The robots are deployed at the nodes of an infinite grid, which has a subset of prefixed nodes marked as parking nodes. Each parking node p_i has a capacity of…
This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…
Global mobile robot localization is the problem of determining a robot's pose in an environment, using sensor data, when the starting position is unknown. A family of probabilistic algorithms known as Monte Carlo Localization (MCL) is…
Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…
This paper proposes a strategy for a group of deaf and dumb robots, carrying clocks from different countries, to meet at a geographical location which is not fixed in advanced. The robots act independently. They can observe others, compute…
We consider the classical problem of making mobile processes gather or converge at a same position (as performed by swarms of animals in Nature). Existing works assume that each process can see all other processes, or all processes within a…
Self-stabilization is a versatile approach to fault-tolerance since it permits a distributed system to recover from any transient fault that arbitrarily corrupts the contents of all memories in the system. Byzantine tolerance is an…
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
The recent advances in sensor technologies and smart devices enable the collaborative collection of a sheer volume of data from multiple information sources. As a promising tool to efficiently extract useful information from such big data,…
In densely-packed robot swarms operating in confined regions, spatial interference -- which manifests itself as a competition for physical space -- forces robots to spend more time navigating around each other rather than performing the…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
Partial participation is essential for communication-efficient federated learning at scale, yet existing Byzantine-robust methods typically assume full client participation. In the partial participation setting, a majority of the sampled…
This paper proposes the first implementation of a self-stabilizing regular register emulated by $n$ servers that is tolerant to both mobile Byzantine agents, and \emph{transient failures} in a round-free synchronous model. Differently from…
We consider the problem of distributed statistical machine learning in adversarial settings, where some unknown and time-varying subset of working machines may be compromised and behave arbitrarily to prevent an accurate model from being…
Numerous distributed tasks have to be handled in a setting where a fraction of nodes behaves Byzantine, that is, deviates arbitrarily from the intended protocol. Resilient, deterministic protocols rely on the detection of majorities to…
We present a decentralized control algorithm for a robotic swarm given the task of encapsulating static and moving targets in a bounded unknown environment. We consider minimalist robots without memory, explicit communication, or…
We present concept and implementation of a self-stabilizing Byzantine fault-tolerant distributed clock generation scheme for multi-synchronous GALS architectures in critical applications. It combines a variant of a recently introduced…