相关论文: Detecting Anomalous Swarming Agents with Graph Sig…

A swarm algorithm framework (SWAF), realized by agent-based modeling, is presented to solve numerical optimization problems. Each agent is a bare bones cognitive architecture, which learns knowledge by appropriately deploying a set of…

Robot swarms often exhibit emergent behaviors that are fascinating to observe; however, it is often difficult to predict what swarm behaviors can emerge under a given set of agent capabilities. We seek to efficiently leverage human input to…

Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…

In numerous artificial intelligence applications, the collaborative efforts of multiple intelligent agents are imperative for the successful attainment of target objectives. To enhance coordination among these agents, a distributed…

The dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of the graph. This…

In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…

Anomaly detection in massive networks has numerous theoretical and computational challenges, especially as the behavior to be detected becomes small in comparison to the larger network. This presentation focuses on recent results in three…

Self-organization of a biologically motivated swarm into smaller subgroups of different velocities is found by solving a 1-dimensional adaptive-velocity swarm, in which the velocity of an agent is averaged over a finite local radius of…

Detecting abrupt changes in streaming graph signals is relevant in a variety of applications ranging from energy and water supplies, to environmental monitoring. In this paper, we address this problem when anomalies activate localized…

Many systems comprising entities in interactions can be represented as graphs, whose structure gives significant insights about how these systems work. Network theory has undergone further developments, in particular in relation to…

In the real world, anomalous entities often add more legitimate connections while hiding direct links with other anomalous entities, leading to heterophilic structures in anomalous networks that most GNN-based techniques fail to address.…

Many social and economic systems can be represented as attributed networks encoding the relations between entities who are themselves described by different node attributes. Finding anomalies in these systems is crucial for detecting abuses…

In this paper we study the problem of social learning under multiple true hypotheses and self-interested agents which exchange information over a graph. In this setup, each agent receives data that might be generated from a different…

Anomaly detection on dynamic graphs refers to detecting entities whose behaviors obviously deviate from the norms observed within graphs and their temporal information. This field has drawn increasing attention due to its application in…

Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…

Theoretical models of populations and swarms typically start with the assumption that the motion of agents is governed by the local stimuli. However, an intelligent agent, with some understanding of the laws that govern its habitat, can…

This thesis is concerned with distributed control and coordination of networks consisting of multiple, potentially mobile, agents. This is motivated mainly by the emergence of large scale networks characterized by the lack of centralized…

Natural groups of animals, such as swarms of social insects, exhibit astonishing degrees of task specialization, useful to address complex tasks and to survive. This is supported by phenotypic plasticity: individuals sharing the same…

Robotic swarms and mobile sensor networks are used for environmental monitoring in various domains and areas of operation. Especially in otherwise inaccessible environments decentralized robotic swarms can be advantageous due to their high…

Anomaly detection is a significant problem faced in several research areas. Detecting and correctly classifying something unseen as anomalous is a challenging problem that has been tackled in many different manners over the years.…