The Robotic Swarm Contamination Problem

Sapir Avrahami; Noa Agmon

doi:10.1109/mrs.2019.8901090

The Robotic Swarm Contamination Problem

Sapir Avrahami, Noa Agmon

Department of Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

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.

Original language	English
Title of host publication	International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	119-125
Number of pages	7
ISBN (Electronic)	9781728128764
DOIs	https://doi.org/10.1109/mrs.2019.8901090
State	Published - Aug 2019
Event	2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019 - New Brunswick, United States Duration: 22 Aug 2019 → 23 Aug 2019

Publication series

Name	International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019

Conference

Conference	2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
Country/Territory	United States
City	New Brunswick
Period	22/08/19 → 23/08/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Funding

*This research was funded in part by ISF grant 2306/18 1Sapir Avrahami and Noa Agmon are with the Department of Computer Science, Bar - Ilan University, Ramat Gan, Israel 52900 [email protected], [email protected]

Funders	Funder number
Ilan University
Israel Science Foundation	2306/18 1Sapir

Access to Document

10.1109/mrs.2019.8901090

Cite this

@inproceedings{601e235023274b04a8daaa2206ab14f2,

title = "The Robotic Swarm Contamination Problem",

abstract = "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.",

author = "Sapir Avrahami and Noa Agmon",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019 ; Conference date: 22-08-2019 Through 23-08-2019",

year = "2019",

month = aug,

doi = "10.1109/mrs.2019.8901090",

language = "אנגלית",

series = "International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "119--125",

booktitle = "International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019",

address = "ארצות הברית",

}

Avrahami, S & Agmon, N 2019, The Robotic Swarm Contamination Problem. in International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019., 8901090, International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019, Institute of Electrical and Electronics Engineers Inc., pp. 119-125, 2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019, New Brunswick, United States, 22/08/19. https://doi.org/10.1109/mrs.2019.8901090

The Robotic Swarm Contamination Problem. / Avrahami, Sapir; Agmon, Noa.
International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 119-125 8901090 (International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - The Robotic Swarm Contamination Problem

AU - Avrahami, Sapir

AU - Agmon, Noa

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 - http://www.scopus.com/inward/record.url?scp=85075632015&partnerID=8YFLogxK

U2 - 10.1109/mrs.2019.8901090

DO - 10.1109/mrs.2019.8901090

M3 - ???researchoutput.researchoutputtypes.contributiontobookanthology.conference???

AN - SCOPUS:85075632015

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 -

The Robotic Swarm Contamination Problem

Abstract

Publication series

Conference

Bibliographical note

Funding

Access to Document

Other files and links

Fingerprint

Cite this