Related papers: Fault Tolerant Control for Networked Mobile Robots
Gathering is a fundamental coordination problem in cooperative mobile robotics. In short, given a set of robots with arbitrary initial locations and no initial agreement on a global coordinate system, gathering requires that all robots,…
We address the problem of interaction topology identification in open multi-agent systems (OMAS) with dynamic node sets and fast switching interactions. In such systems, new agents join and interactions change rapidly, resulting in…
We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…
Consider a system of autonomous mobile robots initially randomly deployed on the nodes of an anonymous finite grid. A gathering algorithm is a sequence of moves to be executed independently by each robot so that all robots meet at a single…
In multi-sensor data fusion (or sensor fusion), sensor biases (or offsets) often affect the accuracy of the correlation and integration results of the tracking targets. Therefore, to estimate and compensate the bias, several methods are…
Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…
We introduce and solve the problem of Byzantine fault tolerant distributed quickest change detection in both continuous and discrete time setups. In this problem, multiple sensors sequentially observe random signals from the environment and…
This paper addresses the distributed online control problem over a network of linear time-invariant (LTI) systems (with possibly unknown dynamics) in the presence of adversarial perturbations. There exists a global network cost that is…
This paper introduces an algorithm able to detect and localize the occurrance of a fault in an Active Distribution Network, using the measurements collected by Phasor Measurement Units (PMUs). First, a basic algorithm that works under the…
In this paper, we consider coordinated movement of a network of vehicles consisting of a bounded number of malicious agents, that is, vehicles must reach consensus in longitudinal position and a common predefined velocity. The motions of…
Fault control and tolerance in wireless sensor network is a challenging problem because of limited energy, bandwidth, and computational complexity. While facing numerous threats these severely resource constrained nodes are responsible for…
Isoperimetric robotic trusses can adapt to different tasks and environments because they have a high strength-to-weight ratio, can change their own shape dramatically, and can be reconfigured into a variety of different shapes. However,…
Recent artificial intelligence-based methods have shown great promise in the use of neural networks for real-time sensing and detection of transmission line faults and estimation of their locations. The expansion of power systems including…
We study a tandem of agents who make decisions about an underlying binary hypothesis, where the distribution of the agent observations under each hypothesis comes from an uncertainty class. We investigate both decentralized detection rules,…
This work considers resilient, cooperative state estimation in unreliable multi-agent networks. A network of agents aims to collaboratively estimate the value of an unknown vector parameter, while an {\em unknown} subset of agents suffer…
Decentralized control in multi-robot systems is dependent on accurate and reliable communication between agents. Important communication factors, such as latency and packet delivery ratio, are strong functions of the number of agents in the…
Combining model-based and model-free learning systems has been shown to improve the sample efficiency of learning to perform complex robotic tasks. However, dual-system approaches fail to consider the reliability of the learned model when…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
A generalized family of Adversary Robust Consensus protocols is proposed and analyzed. These are distributed algorithms for multi-agents systems seeking to agree on a common value of a shared variable, even in the presence of faulty or…
Trust in automation, or more recently trust in autonomy, has received extensive research attention in the past two decades. The majority of prior literature adopted a "snapshot" view of trust and typically evaluated trust through…