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Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems [article]

Amanda Prorok, Matthew Malencia, Luca Carlone, Gaurav S. Sukhatme, Brian M. Sadler, Vijay Kumar
2021 arXiv   pre-print
We address these questions across foundational robotics domains, spanning perception, control, planning, and learning.  ...  In this survey article, we analyze how resilience is achieved in networks of agents and multi-robot systems that are able to overcome adversity by leveraging system-wide complementarity, diversity, and  ...  This approach is reminiscent of the ideas in [221] that aim to preserve role privacy.  ... 
arXiv:2109.12343v1 fatcat:vxt62eluljfelcifzdlosv34cq

Heterogeneous multi-agent planning using actuation maps

Tiago Pereira, Nerea Luis, Antonio Moreira, Daniel Borrajo, Manuela Veloso, Susana Fernandez
2018 2018 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)  
Gracias también al grupo PLG, que me acogió como una más desde que llegué en 2012 pidiendo trabajar con robots.  ...  «Bueno, perdona pero un plan de cuatro años y medio no es tan sencillo de ejecutar a la primera... hay que replanificar unas cuantas veces» -replicó RRPT-PLAN, el algoritmo de reutilización de planes.  ...  Modelling Privacy in Multi-Agent Planning Privacy preservation in Multi-Agent environments is a common feature that some MAP approaches are studying and implementing in their algorithms.  ... 
doi:10.1109/icarsc.2018.8374186 dblp:conf/icarsc/PereiraLMBVF18 fatcat:lrtzymq4dvcutmox5ym3xttjxu

Multi-Robot Task Planning under Individual and Collaborative Temporal Logic Specifications [article]

Ruofei Bai, Ronghao Zheng, Meiqin Liu, Senlin Zhang
2021 arXiv   pre-print
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative  ...  Furthermore, we propose an execution plan adjusting mechanism that allows the robots to iteratively modify their execution plans via privacy-preserved inter-agent communication, to improve the expected  ...  expected actual performance via inter-agent communication, while also preserving the private information about robots' individual tasks.  ... 
arXiv:2108.11597v2 fatcat:247o4ybvajahlnoggkdyat7gde

Advances and Challenges in Privacy Preserving Planning

Guy Shani
2018 Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence  
Collaborative privacy-preserving planning (CPPP) is a multi-agent planning task in which agents need to achieve a common set of goals without revealing certain private information.  ...  We begin with describing different models of privacy, such as weak and strong privacy, agent privacy, and cardinality preserving privacy.  ...  partially supported by ISF Grant 933/13, by the Cyber Security Research Center at Ben-Gurion University of the Negev, and by the Helmsley Charitable Trust through the Agricultural, Biological and Cognitive Robotics  ... 
doi:10.24963/ijcai.2018/816 dblp:conf/ijcai/Shani18 fatcat:cdk7d7q2jjeyngoga7kslskdcq

Efficient approaches for multi-agent planning

Daniel Borrajo, Susana Fernández
2018 Knowledge and Information Systems  
Multi-agent planning (MAP) deals with planning systems that reason on long-term goals by multiple collaborative agents which want to maintain privacy on their knowledge.  ...  Instead, we present two algorithms whose search processes are monolithic (no communication while individual planning) and MAP tasks are compiled such that they are planner-independent (no programming effort  ...  We have devised several privacy preserving methods that balance the privacy level and planning efficiency. We first propose mapr (Multi-Agent Planning by plan Reuse).  ... 
doi:10.1007/s10115-018-1202-1 fatcat:gmjehdfddrhp7ppsj4eu3mzd4a

More Than Privacy: Applying Differential Privacy in Key Areas of Artificial Intelligence [article]

Tianqing Zhu and Dayong Ye and Wei Wang and Wanlei Zhou and Philip S. Yu
2020 arXiv   pre-print
In this paper, we show that differential privacy can do more than just privacy preservation.  ...  With a focus on regular machine learning, distributed machine learning, deep learning, and multi-agent systems, the purpose of this article is to deliver a new view on many possibilities for improving  ...  When a robot plans to move to the corner of the grid, it may try to move to the right first.  ... 
arXiv:2008.01916v1 fatcat:ujmxv7eq6jcppndfu5shbzkdom

More Than Privacy: Applying Differential Privacy in Key Areas of Artificial Intelligence

Tianqing Zhu, Dayong Ye, Wei Wang, Wanlei Zhou, Philip Yu
2020 IEEE Transactions on Knowledge and Data Engineering  
In this paper, we show that differential privacy can do more than just privacy preservation.  ...  With a focus on regular machine learning, distributed machine learning, deep learning, and multi-agent systems, the purpose of this article is to deliver a new view on many possibilities for improving  ...  When a robot plans to move to the corner of the grid, it may try to move to the right first.  ... 
doi:10.1109/tkde.2020.3014246 fatcat:33rl6jxy5rgexpnuel5rvlkg5a

Asynchronous decentralized prioritized planning for coordination in multi-robot system

Michal Cap, Peter Novak, Martin Selecky, Jan Faigl, Jiff Vokffnek
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, the multi-robot motion coordination planning problem is addressed.  ...  aerial vehicles (UAVs) due to communication limitations, privacy concerns, and a better exploitation of computational resources distributed among the individual robots.  ...  Fig. 1 : 1 Example multi-robot coordination problem. Left: start and target positions of the robots 1, 2 and 3. We assume that robot 2 plans longer, because it has to avoid the black obstacle.  ... 
doi:10.1109/iros.2013.6696903 dblp:conf/iros/CapNSFV13 fatcat:lxiz3vlzdrh77mapzz2nrzjbju

Privacy-Preserving Dynamic Average Consensus via State Decomposition: Case Study on Multi-Robot Formation Control [article]

Kaixiang Zhang, Zhaojian Li, Yongqiang Wang, Ali Louati, Jian Chen
2020 arXiv   pre-print
The developed privacy-preserving dynamic average consensus framework is then applied to the formation control of multiple non-holonomic mobile robots, in which the efficacy of the scheme is demonstrated  ...  In this paper, we develop a novel state decomposition-based privacy preservation scheme to protect the privacy of agents when sharing information with neighboring agents.  ...  The objective of the networked mobile robots is to follow the set of mobile targets by spreading out in a pre-specified formation while preserving the privacy of mobile targets against the eavesdropper  ... 
arXiv:2008.03182v2 fatcat:zmmq4tgfojfetkvcdjqjwknouu

Victim detection platform in IoT paradigm

Rajendra Akerkar Minsung Hong
2019 Zenodo  
First, we have reviewed related literature regarding three crucial issues (ie, multi-modal evaluation for reliable data, edge-based real-time response, and privacy-preserved Big Data analysis) to satisfy  ...  In this regard, these two concepts are used for multi-modal data evaluation and privacy-preserved data-driven analysis. • Edge and Cloud Computing: They work as physical and cyber infrastructures of VDP  ...  Privacy-preserved data-driven analysis: As aforesaid, a system working with personal devices may have many possible problems related to privacy.  ... 
doi:10.5281/zenodo.5106037 fatcat:nw36orulgjh6rllzgqcd67abdu

Differentially Private Multi-Agent Planning for Logistic-like Problems [article]

Dayong Ye and Tianqing Zhu and Sheng Shen and Wanlei Zhou and Philip S. Yu
2020 arXiv   pre-print
To the best of our knowledge, this paper is the first to apply differential privacy to the field of multi-agent planning as a means of preserving the privacy of agents for logistic-like problems.  ...  However, during planning, agents face the risk of having their private information leaked. This paper proposes a novel strong privacy-preserving planning approach for logistic-like problems.  ...  By contrast, multi-agent privacy-preserving planning aims at securely making plans that enable individual agents to achieve their goals.  ... 
arXiv:2008.06832v1 fatcat:63phkiggxbcfnhpx3licey672m

Designing Commercial Therapeutic Robots for Privacy Preserving Systems and Ethical Research Practices Within the Home

Elaine Sedenberg, John Chuang, Deirdre Mulligan
2016 International Journal of Social Robotics  
We present new privacy paradigms and apply the Fair Information Practices (FIPs) to investigate concerns unique to the placement of therapeutic robots in private home contexts.  ...  The migration of robots from the laboratory into sensitive home settings as commercially available therapeutic agents represents a significant transition for information privacy and ethical imperatives  ...  companies to consider privacy-preserving and ethical research practices will also likely be a large barrier to adoption and deserves further thought and analysis.  ... 
doi:10.1007/s12369-016-0362-y fatcat:72hhquyvizgplgob4iq54zousi

Noteworthy: News Briefs from PA Libraries

Annie Jansen
2021 Pennsylvania Libraries: Research & Practice  
archive dedicated to the preservation and curation of the history of robotics.  ...  Sloan Foundation has awarded $150,000 to the Carnegie Mellon University Libraries to fund the research into the creation of the Robot Archive, a multi-phase, multi-year program to create the preeminent  ...  Their project demonstrated a high level of innovation with particular focus on privacy literacy and includes lesson plans that may be adapted at other institutions.  ... 
doi:10.5195/palrap.2021.256 fatcat:psyb5f7qb5cszeununfd5wlggq

Distributed Heuristic Forward Search for Multi-agent Planning

R. Nissim, R. Brafman
2014 The Journal of Artificial Intelligence Research  
The question arises whether it is possible to formulate a distributed heuristic forward search algorithm for privacy-preserving classical multi-agent planning.  ...  Furthermore, one particular variant of our general approach yields a distributed version of the A* algorithm that is the first cost-optimal distributed algorithm for privacy-preserving planning.  ...  In this context, a fundamental question is how to perform planning for a distributed multi-agent system efficiently, and in many cases, how to do it while preserving privacy.  ... 
doi:10.1613/jair.4295 fatcat:rnjxxz3zdbcdva76zb6otbe7vm

A Two-Stage Online Approach for Collaborative Multi-agent Planning Under Uncertainty [chapter]

Iván Palomares, Kim Bauters, Weiru Liu, Jun Hong
2016 Lecture Notes in Computer Science  
The proposed online multi-agent planner reduces the cost of planning and decreases the temporal cost of reaching a goal, while significantly increasing the chance of success of achieving the common goal  ...  The proposal brings the advantages of online planning approaches to the multi-agent setting.  ...  The robots, which operate in parallel, must plan and coordinate together to clear the affected locations efficiently.  ... 
doi:10.1007/978-3-319-45856-4_15 fatcat:3mxjot2j2ffczghwx43fow7ysi
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