Jackeline Abad Torres, P. Cruz, Renato Vizuete, R. Fierro
This chapter introduces a series of definitions, metrics, and theory related to heterogeneity and resilience in the context of multi-robotic systems. It presents a case study based on the containment formation control problem for a group of homogeneous and heterogeneous agents. The chapter considers that system failures or adversarial attacks affect a robot such that it communicates incorrect information and on a global level prevents achievement of the team's task. It discusses how heterogeneity has been defined or categorized in the context of multi-agent robotic systems. The variety and disparity capabilities of heterogeneous agents greatly increase their resilience and ability to successfully accomplish complex tasks. The effects of incorporating heterogeneity and/or resilience as design variables of a multi-agent system have been mostly unexplored in the literature. A better understanding of how heterogeneity can be analyzed can help to find the range of missions that an intelligent multi-agent system can or cannot accomplish.
{"title":"On Resilience and Heterogeneity in Robotic Networks","authors":"Jackeline Abad Torres, P. Cruz, Renato Vizuete, R. Fierro","doi":"10.1201/9780429507229-7","DOIUrl":"https://doi.org/10.1201/9780429507229-7","url":null,"abstract":"This chapter introduces a series of definitions, metrics, and theory related to heterogeneity and resilience in the context of multi-robotic systems. It presents a case study based on the containment formation control problem for a group of homogeneous and heterogeneous agents. The chapter considers that system failures or adversarial attacks affect a robot such that it communicates incorrect information and on a global level prevents achievement of the team's task. It discusses how heterogeneity has been defined or categorized in the context of multi-agent robotic systems. The variety and disparity capabilities of heterogeneous agents greatly increase their resilience and ability to successfully accomplish complex tasks. The effects of incorporating heterogeneity and/or resilience as design variables of a multi-agent system have been mostly unexplored in the literature. A better understanding of how heterogeneity can be analyzed can help to find the range of missions that an intelligent multi-agent system can or cannot accomplish.","PeriodicalId":158884,"journal":{"name":"Cooperative Localization and Navigation","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114613031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-08-21DOI: 10.1201/9780429507229-16
Reza Shahbazian, F. Guerriero, S. Ghorashi
{"title":"Cooperative Ranging-Based Detection and Localization: Centralized and Distributed Optimization Methods","authors":"Reza Shahbazian, F. Guerriero, S. Ghorashi","doi":"10.1201/9780429507229-16","DOIUrl":"https://doi.org/10.1201/9780429507229-16","url":null,"abstract":"","PeriodicalId":158884,"journal":{"name":"Cooperative Localization and Navigation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128458107","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-08-21DOI: 10.1201/9780429507229-24
Anusna Chakraborty, Sohum Misra, Rajnikant Sharma, K. Brink, Clark N. Taylor
{"title":"Cooperative Localization: Challenges and Future Directions","authors":"Anusna Chakraborty, Sohum Misra, Rajnikant Sharma, K. Brink, Clark N. Taylor","doi":"10.1201/9780429507229-24","DOIUrl":"https://doi.org/10.1201/9780429507229-24","url":null,"abstract":"","PeriodicalId":158884,"journal":{"name":"Cooperative Localization and Navigation","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130450562","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-08-21DOI: 10.1201/9780429507229-17
Zhiyun Lin
{"title":"Theory and Algorithms in Distributed Localization for Multi-Vehicle Networks Using Graph Laplacian Techniques","authors":"Zhiyun Lin","doi":"10.1201/9780429507229-17","DOIUrl":"https://doi.org/10.1201/9780429507229-17","url":null,"abstract":"","PeriodicalId":158884,"journal":{"name":"Cooperative Localization and Navigation","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131965729","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
C. Vargas-Rosales, R. Villalpando-Hernandez, M. Naraghi-Pour
{"title":"Advances in Radio Localization Techniques","authors":"C. Vargas-Rosales, R. Villalpando-Hernandez, M. Naraghi-Pour","doi":"10.1201/9780429507229-1","DOIUrl":"https://doi.org/10.1201/9780429507229-1","url":null,"abstract":"","PeriodicalId":158884,"journal":{"name":"Cooperative Localization and Navigation","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133631692","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-08-21DOI: 10.1201/9780429507229-21
Jiang Liu, B. Cai
{"title":"Cooperative Integrity Monitoring for Vehicle Localization: A GNSS/DSRC Integrated Approach","authors":"Jiang Liu, B. Cai","doi":"10.1201/9780429507229-21","DOIUrl":"https://doi.org/10.1201/9780429507229-21","url":null,"abstract":"","PeriodicalId":158884,"journal":{"name":"Cooperative Localization and Navigation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124150413","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Optimizing Computational Cost and Communication Overhead in Cooperative Localization","authors":"Panagiotis Agis Oikonomou Filandras, Kai‐Kit Wong","doi":"10.1201/9780429507229-3","DOIUrl":"https://doi.org/10.1201/9780429507229-3","url":null,"abstract":"","PeriodicalId":158884,"journal":{"name":"Cooperative Localization and Navigation","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117338951","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-08-21DOI: 10.1201/9780429507229-10
R. Reid, Kai Li Lim, T. Bräunl
{"title":"Cooperative Multi-Robot Navigation–SLAM, Visual Odometry and Semantic Segmentation","authors":"R. Reid, Kai Li Lim, T. Bräunl","doi":"10.1201/9780429507229-10","DOIUrl":"https://doi.org/10.1201/9780429507229-10","url":null,"abstract":"","PeriodicalId":158884,"journal":{"name":"Cooperative Localization and Navigation","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124680784","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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