5 accepted papers
In this letter, we aim to calculate the probability that a dynamic multi-robot system (MRS) satisfies the conditions of (r,s)-robustness, given that robot communication is subject to random failures that can be modeled using a probability distribution. The property of (r,s)-robustness is a topologic
In this paper, we optimize the interaction graph of a multi-robot system (MRS) by maximizing its probability of security while requiring the MRS to have the fewest edges possible. Edges that represent robot interactions exist according to a probability distribution and security is defined using the…
In this letter, we train a convolutional neural network (CNN) to predict the probability of security of a multi-robot system (MRS) when robot interactions are probabilistic. In the context of MRSs, probabilistic security is defined using the control-theoretic notion of left invertibility, a necessar
In this paper, we formulate a combinatorial optimization problem that aims to maximize the accuracy of a lower bound estimate of the probability of security of a multi-robot system (MRS), while minimizing the computational complexity involved in its calculation. Security of an MRS is defined using t…
In this paper, we develop a method for determining the probability of a multi-robot system (MRS) being secure when robot interactions are modeled as a probabilistic graph. To define the security of an MRS, we apply an existing control-theoretic notion of network attacks based on the left invertibili…