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

Kenneth Bowers, Laura Strickland, Gregory Cooke, Charles Pippin, Theodore P. Pavlic

Research output: Chapter in Book/Report/Conference proceedingChapter

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.

Original languageEnglish (US)
Title of host publicationSpringer Proceedings in Advanced Robotics
PublisherSpringer Science and Business Media B.V.
Pages239-250
Number of pages12
DOIs
StatePublished - 2019

Publication series

NameSpringer Proceedings in Advanced Robotics
Volume9
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264

Keywords

  • Information cascade
  • Low communication
  • Multi-agent system
  • Rumor spreading
  • SCRIMMAGE
  • Trust
  • Wireless sensor networks

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Engineering (miscellaneous)
  • Artificial Intelligence
  • Computer Science Applications
  • Applied Mathematics

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