TY - GEN
T1 - The Robotic Swarm Contamination Problem
AU - Avrahami, Sapir
AU - Agmon, Noa
N1 - Publisher Copyright: © 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - The problem of reaching a consensus in a swarm of robots has been widely examined in the literature. In this paper we introduce the contamination problem, a new version of the consensus problem in which the robots' influence to adopt a certain value towards a consensus is based on both external factors (its surroundings) and its internal state. The problem's innovation is in the combination of two aspects: First, the existence of adversarial forces that may intentionally act to divert the robots from a desired consensus, and an asymmetry of state transition, that is, a robot may have a stronger tendency to change from one state to another, compared to the other way around. We provide a theoretical analysis of formation creation as a mean to guarantee consensus, and an empirical evaluation-both in simulation and in real robots-demonstrating the influence of different robot behaviors and internal factors on the convergence time and value.
AB - The problem of reaching a consensus in a swarm of robots has been widely examined in the literature. In this paper we introduce the contamination problem, a new version of the consensus problem in which the robots' influence to adopt a certain value towards a consensus is based on both external factors (its surroundings) and its internal state. The problem's innovation is in the combination of two aspects: First, the existence of adversarial forces that may intentionally act to divert the robots from a desired consensus, and an asymmetry of state transition, that is, a robot may have a stronger tendency to change from one state to another, compared to the other way around. We provide a theoretical analysis of formation creation as a mean to guarantee consensus, and an empirical evaluation-both in simulation and in real robots-demonstrating the influence of different robot behaviors and internal factors on the convergence time and value.
UR - https://www.scopus.com/pages/publications/85075632015
U2 - 10.1109/mrs.2019.8901090
DO - 10.1109/mrs.2019.8901090
M3 - Conference contribution
T3 - International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
SP - 119
EP - 125
BT - International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
Y2 - 22 August 2019 through 23 August 2019
ER -