In this paper, we propose a distributed control policy to achieve rendezvous by set of robots even when some in the system do not follow prescribed policy. These nonconforming correspond faults multirobot system, and our is thus fault-tolerant Each robot has limited sensing range able directly estimate state only those within that range, which induces network topology for system. We assume it possible fault-free identify faulty robots, approach robust undetected The main contribution paper...

Connected vehicles are poised to transform the field of environmental sensing by enabling acquisition scientific data at unprecedented scales. Drawing on a real-world dataset collected from almost 70 connected vehicles, this study generates improved rainfall estimates combining weather radar with windshield wiper observations. Existing methods for measuring precipitation subject spatial and temporal uncertainties that compromise high-precision applications like flash flood forecasting....

In this paper, we explore the problem of rendezvous synchronous multi-robot systems. Each robot has its own unique, bounded yet controllable sensing range which can be adjusted. The state those robots within estimated, induces directed network topology particular, consider systems containing faulty behave arbitrarily. Our recent work [1] addressed achieving in presence under a restrictive class conditions on topology. work, presented theoretically correct, but computationally intractable...

In this paper, we propose a distributed control policy to achieve rendezvous by set of robots even when some in the system do not follow prescribed policy. These nonconforming correspond faults multi-robot systems, and our is thus fault-tolerant We consider case which each robot an autonomous decision maker that anonymous (i.e., are indistinguishable one another), memoryless makes decisions based upon only its current information), dimensionless collision checking considered). Each has...

In this paper, we consider the problem of designing distributed control algorithms to solve rendezvous for multi-robot systems with limited sensing, situation in which random nodes may fail during execution. We first formulate a solution based upon averaging that have been reported consensus literature. case, at each stage execution 1-step sequential optimal (i.e., naïve greedy algorithm) is used. show by choosing an appropriate constraint set, finite-time point convergence guaranteed. then...

Constructing a spatial map of environmental parameters is crucial step to preventing hazardous chemical leakages, forest fires, or while estimating spatially distributed physical quantities such as terrain elevation. Although prior methods can do mapping tasks efficiently via dispatching group autonomous agents, they are unable ensure satisfactory convergence the underlying ground truth distribution in decentralized manner when any agents fail. Since types utilized perform typically...

In this paper, we present a recurrent neural network to resolve the obstacle avoidance problem of excavators. The conventional pseudo-inverse formulation requires excessive computation time for on-line or real application. To effectively accomplish following goals: excavation task execution, joint limit control, and at same time, Newton-iteration scheme was replaced by algorithm in study. implemented better kinematics control excavator with capability. automated environments, potential...

In this paper, we consider the problem of worst-case performance by a mobile sensor network (MSN) when some nodes in fail. We formulate as game which subset act an adversarial manner, choosing their motion strategies to maximally degrade overall whole. restrict our attention present paper target detection goal is minimize probability missed detection. use partitioned cost function that minimized each executes strategy given Lloyd's algorithm (i.e., agent moves toward centroid its Voronoi...

In this paper, we consider the performance of distributed control algorithms for networked robotic systems when one or more robots fail to execute optimal policy. particular, investigate circumcenter algorithm with connectivity maintenance [1]-[3] adversarial agents act maliciously maximally disrupt convergence remaining, cooperative agents. To end, formulate a objective each adversary node in terms circumradii its neighbors communication graph which does not require omniscience adversaries...

This paper presents a distributed robust deployment algorithm for optimal coverage by mobile sensor network (MSN). Much past research has focused on versions of the problem that partition workspace into regions, and then assign exactly one to cover each region. For this case it been shown is Voronoi partition, Lloyd's converges solution, with located at centroid its In paper, we consider in which k sensors are assigned region order obtain failure. case, prove order-k those regions generator....

Optimal Path Planning for Backhoe Based on Excavation Environment Hyongju Park, Jin-Ok Shin, Sanghak Lee, Daehie Hong Pages 169-174 (2007 Proceedings of the 24th ISARC, Kochi, India, ISBN 978-81-904235-1-9, ISSN 2413-5844) Abstract: The paper focuses establishment optimized bucket path planning using numerical solution method, a force-reflecting backhoe which is affected by excavation environment including potential obstacles. developed method can be used precise control and more importantly...

Constructing a spatial map of environmental parameters is crucial step to preventing hazardous chemical leakages, forest fires, or while estimating spatially distributed physical quantities such as terrain elevation. Although prior methods can do mapping tasks efficiently via dispatching group autonomous agents, they are unable ensure satisfactory convergence the underlying ground truth distribution in decentralized manner when any agents fail. Since types utilized perform typically...

This paper develops a computationally efficient algorithm for the Multiple Vehicle Pickup and Delivery Problem (MVPDP) with objective of minimizing tour cost incurred while completing task pickup delivery customers. To this end, constructs novel 0-1 Integer Quadratic Programming (IQP) problem to exactly solve MVPDP. Compared state-of-the-art Mixed Linear (MILP) formulation problem, one presented here requires fewer constraints decision variables. ensure that IQP MVPDP can be solved in...