@article {2473, title = {Distributed motion misbehavior detection in teams of heterogeneous aerial robots}, journal = {Robotics and Autonomous Systems information}, volume = {74 part A}, year = {2015}, month = {12/2015}, pages = {30-39}, abstract = {

This paper addresses the problem of detecting possible misbehavior in a group of autonomous mobile robots, which coexist in a shared environment and interact with each other and coordinate according to a set of common\ interaction rules. Such rules specify what actions each robot is allowed to perform in order to interact with the other members of the group. The rules are distributed, i.e., they can be evaluated only starting from the knowledge of the individual robot and the information the robot gathers from neighboring robots. We consider\ misbehaving\ those robots which, because of either spontaneous failures or malicious tampering, do not follow the rules and whose behavior thus deviates from the nominal assigned one. The main contribution of the paper is to provide a methodology to detect such misbehavior by observing the congruence of actual behavior with the assigned rules as applied to the actual state of the system. The presented methodology is based on a consensus protocol on the events observed by robots. The methodology is fully distributed in the sense that it can be performed by individual robots based only on the local available information, it has been theoretically proven and validated with experiments involving real aerial heterogeneous robots.

}, keywords = {Embedded Control, Robotics}, doi = {10.1016/j.robot.2015.06.008}, url = {http://www.sciencedirect.com/science/article/pii/S0921889015001360}, author = {S. Martini and D. Di Baccio and F. Alarc{\`o}n-Romero and A. Viguria-Jim{\'e}nez and L. Pallottino and G. Dini and A. Ollero} } @conference {MFZB11, title = {Decentralized Species Classification in Societies of Autonomous and Heterogenous Robots}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {32 - 39}, address = {Shangai, China}, keywords = {Embedded Control, Robotics}, author = {S. Martini and A. Fagiolini and G. Zichittella and M. Egerstedt and A. Bicchi} } @conference {FMDB-NecSys09, title = {Distributed Consensus on Boolean Information}, booktitle = {1st IFAC Workshop on Estimation and Control of Networked Systems (NecSys{\textquoteright}09)}, year = {2009}, month = {September, 24 - }, pages = {72 - 77}, address = {Venice, Italy}, abstract = {

In this paper we study the convergence towards consensus on information in a distributed system of agents communicating over a network. The particularity of this study is that the information on which the consensus is seeked is not represented by real numbers, rather by logical values or compact sets. Whereas the problems of allowing a network of agents to reach a consensus on logical functions of input events, and that of agreeing on set-valued information, have been separately addressed in previous work, in this paper we show that these problems can indeed be attacked in a unified way in the framework of Boolean distributed information systems. Based on a notion of contractivity for Boolean dynamical systems, a necessary and suficient condition ensuring the global convergence toward a unique equilibrium point is presented. This result can be seen as a first step toward the de nition of a unified framework to uniformly address all consensus problems on Boolean algebras.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and S. Martini and N. Dubbini and A. Bicchi} }