Related papers: Crash tolerant gathering on grid by asynchronous o…
Arbitrary pattern formation ($\mathcal{APF}$) by mobile robots is studied by many in literature under different conditions and environment. Recently it has been studied on an infinite grid network but with full visibility. In opaque robot…
Road network junctions, such as merges and diverges, often act as bottlenecks that initiate and exacerbate congestion. More complex junction configurations lead to more complex driver behaviors, resulting in aggregate congestion patterns…
In this paper, we study the graph realization problem in the Congested Clique model of distributed computing under crash faults. We consider {\em degree-sequence realization}, in which each node $v$ is associated with a degree value $d(v)$,…
Currently, many machine learning algorithms contain lots of iterations. When it comes to existing large-scale distributed systems, some slave nodes may break down or have lower efficiency. Therefore traditional machine learning algorithm…
In a context of autonomous robots, one of the most important task is to ensure the safety of the robot and its surrounding. Most of the time, the risk of navigation is simply said to be the probability of collision. This notion of risk is…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
We develop a resilient binary hypothesis testing framework for decision making in adversarial multi-robot crowdsensing tasks. This framework exploits stochastic trust observations between robots to arrive at tractable, resilient decision…
Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…
Grasping target objects is a fundamental skill for robotic manipulation, but in cluttered environments with stacked or occluded objects, a single-step grasp is often insufficient. To address this, previous work has introduced pushing as an…
The paper tackles the problem of clustering multiple networks, directed or not, that do not share the same set of vertices, into groups of networks with similar topology. A statistical model-based approach based on a finite mixture of…
We introduce a new problem in the domain of mobile robots, which we term dispersion. In this problem, $n$ robots are placed in an $n$ node graph arbitrarily and must coordinate with each other to reach a final configuration such that…
Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique…
In their seminal work, Gauci et al. (2014) studied the fundamental task of aggregation, wherein multiple robots need to gather without an a priori agreed-upon meeting location, using minimal hardware. That paper considered…
In case of multiple node failures performance becomes very low as compare to single node failure. Failures of nodes in cluster computing can be tolerated by multiple fault tolerant computing. Existing recovery schemes are efficient for…
Real time systems are systems in which there is a commitment for timely response by the computer to external stimuli. Real time applications have to function correctly even in presence of faults. Fault tolerance can be achieved by either…
Herding defines a deterministic dynamical system at the edge of chaos. It generates a sequence of model states and parameters by alternating parameter perturbations with state maximizations, where the sequence of states can be interpreted…
We consider systems made of autonomous mobile robots evolving in highly dynamic discrete environment i.e., graphs where edges may appear and disappear unpredictably without any recurrence, stability, nor periodicity assumption. Robots are…
We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free…
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of the team, which is determined by (i) the accumulated risk…
A team of anonymous mobile agents represented by points freely moving in the plane have to gather at a single point and stop. Agents start at different points of the plane and at possibly different times chosen by the adversary. They are…