Current Projects

Probabilistic Quality Guarantees in Distributed Robotic Networks 

Support: NSF grants IIS-0093581 and CCR-0330342

 

Abstract:

In distributed networks, each agents takes its decision based on the information it can gather by itself and the one  it can share with its neighbors.   Is thus required that the communication exchange between a particular pair of robots can be succesful.  Unfortunately, communication systems are exposed to errors and hence there is some risk that the agents might work with incomplete information,  leading the formation towards an incorrect state.   Nonetheless, once motion is involved, the time constraints for communication exchange become very small for the network and the agents can afford to have several retransmissions in case of error.  We quantify such intuition by obtaining bounds on the tolerance of error, the probability of exceeding such tolerance and  the speed of the agents as function of the other variables.

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Distributed Decision Making for Optimal Placement 

Support: NSF grants IIS-0093581 and CCR-0330342

 

Abstract:

In our previous works,  we have been considering sensing and coverage as two essentially different tasks.  This time, we approach the problem by considering sensing as a particular case of coverage, on which the density associated to the region has a high peak in a suitable neighborhood of the source location.  The problem is then to define how the agents should interact with their neighbors, so all the agents in the formation agree on the global density function that should be assigned to the region. 

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