Self-optimization of resilient topologies for fallible multi-robots

Abstract

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Model-based learning of underwater acoustic communication performance for marine robots

“…where c l is the center of each measurement, e.g., c l = 0 for zero mean measurement error ϵ (8). The corresponding variance is denoted σ 2 G,l , where in practice is a constant value σ 2 G,l = σ 2 G for all l measurements.…”

“…The main difference from the ordinary kriging lies in the mean value of the random field, which is not assumed to be constant. More specifically, provided measurements Y at locations x ∈ R 2 the random field is described by (8). We use a linear unbiased estimator, (25) where…”

“…For agents that operate underwater, inter-vehicle communication is usually accomplished using wireless underwater acoustic (UWA) signals. In the majority of the literature, wireless communication performance is treated as a deterministic, rangedependent function [2][3][4][5][6][7][8][9]. In the graph theory literature this is also known as r-disk communication graph [10][11][12][13][14][15][16].…”

Resilient Time-Varying Formation Tracking for Mobile Robot Networks under Deception Attacks on Positioning

“…In real-world applications, data transmission over cyber networks and information shared between agents could become susceptible to not only adverse and malicious threats but also attacks that would crucially compromise or even destroy a networked robotic system [17], [18]. Although multi-agent systems are advantageous in various tasks with redundancy and scalability, the issues of actuator faults, fallible robots, and vulnerable communications have recently attracted significant attention [14], [19]- [24]. Connectivity preservation with respect to robot failures was addressed by [19], where a self-optimization of resilient topologies and an experimental validation were provided.…”

“…Although multi-agent systems are advantageous in various tasks with redundancy and scalability, the issues of actuator faults, fallible robots, and vulnerable communications have recently attracted significant attention [14], [19]- [24]. Connectivity preservation with respect to robot failures was addressed by [19], where a self-optimization of resilient topologies and an experimental validation were provided. In [21], a distributed H ∞ controller was designed to ensure resilience and robustness for leader-follower systems under faulty and malicious attacks on sensors and/or actuators.…”