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Cooperative multi-robot control for target tracking with onboard sensing

Karol Hausman, Jörg Müller, Abishek Hariharan, Nora Ayanian, Gaurav S Sukhatme
2015 The international journal of robotics research  
Keywords Cooperative multi-robot control; target tracking; sensor-based navigation; sensing topology switching * This is an extended version of "Cooperative Control for Target Tracking with Onboard Sensing  ...  Our approach reasons about multiple possible sensing topologies and incorporates an efficient topology switching technique to generate locally optimal controls in polynomial time complexity.  ...  Sensing Topology Switching During target tracking, we allow switching between neighboring topologies.  ... 
doi:10.1177/0278364915602321 fatcat:kfiq4ypqwvdlxd2e64waem74ym

Experimental Validation of Consensus Algorithms for Multivehicle Cooperative Control

Wei Ren, Haiyang Chao, W. Bourgeous, N. Sorensen, YangQuan Chen
2008 IEEE Transactions on Control Systems Technology  
In this brief, consensus algorithms are experimentally implemented and validated on a mobile actuator and sensor network platform under directed, possibly switching interaction topologies to explore issues  ...  and challenges in distributed multivehicle cooperative control.  ...  By doing so, distributed cooperative control algorithms involving only local neighbor-to-neighbor interaction via communication or sensing can be tested for multivehicle systems.  ... 
doi:10.1109/tcst.2007.912239 fatcat:xlz55jwvkbalvlawlzlj2oxxbe

Experimental implementation and validation of consensus algorithms on a mobile actuator and sensor network platform

Wei Ren, Haiyang Chao, William Bourgeous, Nathan Sorensen, YangQuan Chen
2007 2007 IEEE International Conference on Systems, Man and Cybernetics  
In this paper, we experimentally implement and validate distributed consensus algorithms on a mobile actuator and sensor network platform under directed, possibly switching interaction topologies to explore  ...  issues and challenges in distributed multi-vehicle cooperative control.  ...  By doing so, we can test distributed cooperative control algorithms involving only local neighbor-to-neighbor information exchange via communication or sensing for multi-vehicle systems.  ... 
doi:10.1109/icsmc.2007.4413882 dblp:conf/smc/RenCBSC07 fatcat:pgu4sij4qvge5iikqmbzwj4rpy

Spectrum management in cognitive radio ad hoc networks

Ian Akyildiz, Won-Yeol Lee, Kaushik Chowdhury
2009 IEEE Network  
Furthermore, due to the lack of central network entities, CRAHNs necessitate each CR user having all the spectrum related CR capabilities, and determining its actions based on local observation, leading  ...  For this, the ability for spectrum sensing, spectrum sharing, choosing the best spectrum among the available options, and dynamically adapting transmission parameters based on the activity of the licensed  ...  Cooperation CRAHNs lack centralized support, and hence must rely on local observation of each CR user to determine its actions.  ... 
doi:10.1109/mnet.2009.5191140 fatcat:ri3wobo3kbd7fibmzukd33igoi

Novel Stealthy Attack and Defense Strategies for Networked Control Systems [article]

Yanbing Mao, Hamidreza Jafarnejadsani, Pan Zhao, Emrah Akyol, and Naira Hovakimyan
2019 arXiv   pre-print
) attack" before (after) topology switching to evade detection; (ii) cooperate with a concurrent stealthy topology attack that alters network topology at switching times, such that the original ZDA is  ...  We then propose an attack detection algorithm based on the Luenberger observer, using the characterized detectability conditions.  ...  We let t k+1 denote the switching time when ZDA cooperates with topology attack.  ... 
arXiv:1908.09466v1 fatcat:sv23ohkdsreydntii46rti5w4a

A distributed cooperative guidance law for salvo attack of multiple anti-ship missiles

Youan Zhang, Xingliang Wang, Huali Wu
2015 Chinese Journal of Aeronautics  
The proposed scheme ensures convergence to consensus of impact time under either fixed or switching sensing/communication network, and the topological requirements are less restrictive than those in the  ...  The consensus problem of impact time is addressed for multiple anti-ship missiles.  ...  Fig. 2 2 Sensing/communication topologies. Fig. 5 5 Lead angle for fixed sensing/communication topology without FOV constraint.  ... 
doi:10.1016/j.cja.2015.08.009 fatcat:2r5jphenbvcqni65hnkblrbpxu

Partner Selection Shapes the Strategic and Topological Evolution of Cooperation

Faqi Du, Feng Fu
2011 Dynamic Games and Applications  
Coevolution of individual strategies and social ties, in which individuals not only adjust their strategies by social learning but also switch their adverse partners to search for potential beneficial  ...  But the question how individual preferential partner choice shapes the dynamical and topological organization of cooperation has yet to be fully answered.  ...  Christakis for stimulating discussions.  ... 
doi:10.1007/s13235-011-0015-6 fatcat:uuusrkugebhffmth6l7nn7l22y

Distributed Parameter Estimation Over Unreliable Networks With Markovian Switching Topologies

Qiang Zhang, Ji-Feng Zhang
2012 IEEE Transactions on Automatic Control  
Under mild conditions on stochastic noises, gain function and topology-switching Markov chain, we establish both the mean square and almost sure convergence of the designed algorithms by use of probability  ...  Consensus-based distributed parameter estimation algorithms for both discrete-time and continuous-time cases are established, which are suitable for unreliable communication networks with stochastic communication  ...  task for the unknown parameter cooperatively.  ... 
doi:10.1109/tac.2012.2188353 fatcat:vwyc527dh5fnranm5h5i3ck424

Cooperative Output-Feedback Secure Control of Distributed Linear Cyber-Physical Systems Resist Intermittent DoS Attacks

Xin Wang, Ju H. Park, Heng Liu, Xian Zhang
2020 IEEE Transactions on Cybernetics  
conditions can relax time constraints on interaction topology switching.  ...  Under the switching communication network environment, first, a distributed secure control method for each subsystem is proposed via neighborhood information, which includes the local state estimator and  ...  Second, a novel output-feedback-based secure control approach is designed for linear distributed CPSs under DoS attacks, in which, a local state observer for each subsystem is introduced to estimate the  ... 
doi:10.1109/tcyb.2020.3034374 pmid:33259319 fatcat:c6c5l3u4ergm7n6awplyskimsu

CRAHNs: Cognitive radio ad hoc networks

Ian F. Akyildiz, Won-Yeol Lee, Kaushik R. Chowdhury
2009 Ad hoc networks  
Specifically, in cognitive radio ad hoc networks (CRAHNs), the distributed multi-hop architecture, the dynamic network topology, and the time and location varying spectrum availability are some of the  ...  First, novel spectrum management functionalities such as spectrum sensing, spectrum sharing, and spectrum decision, and spectrum mobility are introduced from the viewpoint of a network requiring distributed  ...  A common cooperative scheme is forming clusters to share the sensing information locally.  ... 
doi:10.1016/j.adhoc.2009.01.001 fatcat:yzmtjups5rc6pcwxh3iydrqmni

Detection of Stealthy Adversaries for Networked Unmanned Aerial Vehicles [article]

Mohammad Bahrami, Hamidreza Jafarnejadsani
2022 arXiv   pre-print
The centralized observer that runs in a control center leverages switching in the UAVs' communication topology for attack detection, and the decentralized observers, implemented onboard each UAV in the  ...  network, use the model of networked UAVs and locally available measurements.  ...  This is due to the fact that switching from mode 1 to mode 4 does not meet the necessary conditions required for a topology switching to render stealhy attacks detectable for the central monitor in (19  ... 
arXiv:2202.09661v1 fatcat:t7vnteyvsfcvxdc36q5474vyl4

Classification and analysis of spectrum sensing mechanisms in Cognitive Vehicular Networks

A. Riyahi, S. Bah, M. Sebgui, B. Elgraini
2018 EAI Endorsed Transactions on Smart Cities  
But, vehicular networks are highly challenging for spectrum sensing due to speed and dynamic topology.  ...  As a first step towards an appropriate spectrum sensing solution for CVNs, we first, provide a comprehensive classification of existing spectrum sensing techniques for CVNs.  ...  Reasoning observation Analysis Act Spectrum sensing techniques The Spectrum Sensing techniques are divided into two types local spectrum sensing (performed individually) and Cooperative Spectrum Sensing  ... 
doi:10.4108/eai.12-2-2018.154105 fatcat:ck2qzoqjnvgo5oh5co3s4bdfzq

Multi-Agent Cooperative Control Consensus: A Comparative Review

Muhammad Majid Gulzar, Syed Tahir Hussain Rizvi, Muhammad Yaqoob Javed, Umer Munir, Haleema Asif
2018 Electronics  
A summary of theoretical results regarding consensus for agreement analysis for complex dynamic systems and time-invariant information exchange topologies is briefly described in a unified way.  ...  The application under both non-formation and formation cooperative control consensus for multi-agent system also investigated.  ...  Non-linear multi-agent consensus protocol for heterogeneous agents using fuzzy disturbance observer [38] , distributed H ∞ controller [41] , internal model principle [42] and switching topology [43  ... 
doi:10.3390/electronics7020022 fatcat:vieefonb35ezjcg7uy2u3fodyi

Consensus control of stochastic multi-agent systems: a survey

Lifeng Ma, Zidong Wang, Qing-Long Han, Yurong Liu
2017 Science China Information Sciences  
Iterative learning control approach for consensus of multi-agent systems with regular linear dynamics SCIENCE CHINA Information Sciences 60, 079202 (2017); Observer-based adaptive consensus control for  ...  Further, we provide a systematic review of the consensus problems for MASs whose communication topology varies randomly in the process of data propagation among agents.  ...  switching topology.  ... 
doi:10.1007/s11432-017-9169-4 fatcat:f6hipyutljd3toul2vr3inlx2q

Prakash and Sertel's theory of non-cooperative equilibria in social systems — twenty years later

Erdem Başçi, Murat R. Sertel
1996 Journal of Mathematical Economics  
Prakash and Sertel's (1974a) fixed point theory (FPT) of "locally convex" topological semivector spaces generalized the then known FPT in locally convex topological vector spaces (the FPT of Brouwer, 1912  ...  Observe that the inverse under + does not exist, e.g. for L = '8 and A = [O,l] (The identity element is IQ], where Q is the "origin" of L, and there is no B E _%?  ...  In each case we have checked that the sufficient conditions PSl-PS4 of Prakash and Sertel for the existence of a non-cooperative equilibrium are satisfied.  ... 
doi:10.1016/0304-4068(95)00714-8 fatcat:d3jp2grxk5fwfiolkfe4f7x7yu
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