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Trust-Based Information Propagation on Multi-robot Teams in Noisy Low-Communication Environments

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Distributed Autonomous Robotic Systems

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 9))

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Abstract

One of the challenging requirements of large multi-robot systems is scalable communication methods that are robust to noisy low-communication environments. On a multi-hop, wireless sensor network, it may be desirable for a node to issue a system-wide alert on detection of an event of interest. However, if there is a high false-positive rate, then system-wide false alarms may frequently occur. Giant honeybees (Apis dorsata) generate large-scale spiral waves triggered by the presence of a threat. Studies show that the initial seed of the waves and the re-transmission behavior are non-trivial and thus may be specially tuned for this low-communication scenario. Motivated by these adaptive patterns in giant honeybees, we develop a distributed approach for sharing awareness of critical events that is able to damp the propagation of false-alarm signals. We validate the algorithm’s performance for a WSN detecting a hostile UAV in the SCRIMMAGE simulation framework.

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Acknowledgements

This work was supported by DARPA under the Bio-Inspired Swarming seedling project, contract FA8651-17-F-1013.

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Authors and Affiliations

  1. Georgia Tech Research Institute, Atlanta, GA, Georgia

    Kenneth Bowers, Laura Strickland, Gregory Cooke & Charles Pippin

  2. School of Computing, Informatics, and Decision Systems Engineering, Arizona State University, Tempe, AZ, USA

    Theodore P. Pavlic

Authors
  1. Kenneth Bowers
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  2. Laura Strickland
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  3. Gregory Cooke
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  4. Charles Pippin
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  5. Theodore P. Pavlic
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Corresponding author

Correspondence to Kenneth Bowers .

Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA

    Nikolaus Correll

  2. Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA

    Mac Schwager

  3. Department of Aerospace Engineering, University of Maryland, College Park, MD, USA

    Michael Otte

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Bowers, K., Strickland, L., Cooke, G., Pippin, C., Pavlic, T.P. (2019). Trust-Based Information Propagation on Multi-robot Teams in Noisy Low-Communication Environments. In: Correll, N., Schwager, M., Otte, M. (eds) Distributed Autonomous Robotic Systems. Springer Proceedings in Advanced Robotics, vol 9. Springer, Cham. https://doi.org/10.1007/978-3-030-05816-6_17

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