4 citations · 6 across the 6 of their papers we have counts for
6 papers
Wi-Closure: Reliable and Efficient Search of Inter-robot Loop Closures Using Wireless Sensing
Weiying Wang, Anne Kemmeren, Daniel Son +2
In this paper we propose a novel algorithm, Wi-Closure, to improve computational efficiency and robustness of loop closure detection in multi-robot SLAM. Our approach decreases the…
Exploiting Trust for Resilient Hypothesis Testing with Malicious Robots
Matthew Cavorsi, Orhan Eren Akgün, Michal Yemini +2
We develop a resilient binary hypothesis testing framework for decision making in adversarial multi-robot crowdsensing tasks. This framework exploits stochastic trust observations…
Crowd Vetting: Rejecting Adversaries via Collaboration--with Application to Multi-Robot Flocking
Frederik Mallmann-Trenn, Matthew Cavorsi, Stephanie Gil
We characterize the advantage of using a robot's neighborhood to find and eliminate adversarial robots in the presence of a Sybil attack. We show that by leveraging the opinions of…
Multiagent Rollout and Policy Iteration for POMDP with Application to Multi-Robot Repair Problems
Sushmita Bhattacharya, Siva Kailas, Sahil Badyal +2
In this paper we consider infinite horizon discounted dynamic programming problems with finite state and control spaces, partial state observations, and a multiagent structure. We…
Exploiting Local and Cloud Sensor Fusion in Intermittently Connected Sensor Networks
Michal Yemini, Stephanie Gil, Andrea Goldsmith
We consider a detection problem where sensors experience noisy measurements and intermittent communication opportunities to a centralized fusion center (or cloud). The objective of…
Reinforcement Learning for POMDP: Partitioned Rollout and Policy Iteration with Application to Autonomous Sequential Repair Problems
Sushmita Bhattacharya, Sahil Badyal, Thomas Wheeler +2
In this paper we consider infinite horizon discounted dynamic programming problems with finite state and control spaces, and partial state observations. We discuss an algorithm tha…