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Seen by:Multi-agent Cooperative Cleaning of Expanding Domains
Published in the International Journal of Robotics Research, 2010
Several recent works considered multi-a(ge)nt robotics in static environments.
In this work we examine ways of... more
Several recent works considered multi-a(ge)nt robotics in static environments.
In this work we examine ways of operating in dynamic environments, where
changes take place independently of the agents' activity. The work focuses on a
dynamic variant of the \emph{Cooperative Cleaners} problem, a problem that requires several simple agents to clean a connected region of ``dirty'' pixels in $\mbox{\bf Z}^{2}$. A number of simple agents move in this dirty region, each having the ability to ``clean''
the place it is located in. Their goal is to jointly clean the given dirty region. The dynamic variant of the problem involves a
deterministic expansion of dirt in the environment, simulating spreading of
\emph{contamination}, or \emph{fire}. Theoretical lower bounds for the problem are
presented, as well as various impossibility results.
A cleaning protocol for the problem is presented, and a wealth of experimental results
testing its performance in comparison to the lower bounds.
Several analytic upper bounds for the proposed protocol are also presented, accompanied with appropriate experimental results.
TTLed RandomWalks for Collaborative Monitoring in Mobile and Social Networks
Complex network and complex systems research has been proven to have great implications in practice in many scopes... more
Complex network and complex systems research has been proven to have great implications in practice in many scopes including Social Networks, Biology, Disease Propagation, and Information Security. One can use complex network theory to optimize resource locations and optimize actions.
Randomly constructed graphs and probabilistic arguments lead to important conclusions with a possible great social and financial influence.
Security in online social networks has recently become a major issue for network designers and operators. Being ``open'' in their nature and offering users the ability to compose and share information, such networks may involuntarily be used as an infection platform by viruses and other kinds of malicious software. This is specifically true for mobile social networks, that allow their users to download millions of applications created by various individual programmers, some of which may be malicious or flawed. In order to detect that an application is malicious, monitoring its operation in a real environment for a significant period of time is often required. As the computation and power resources of mobile devices are very limited, a single device can monitor only a limited number of potentially malicious applications locally. In this work, we propose an efficient collaborative monitoring scheme that harnesses the collective resources of many mobile devices, generating a ``vaccination''--like effect in the network. We suggest a new local information flooding algorithm called \emph{Time-to-Live Probabilistic Propagation} (TPP). The algorithm is implemented in any mobile device, periodically monitors one or more applications and reports its conclusions to a small number of other mobile devices, who then propagate this information onwards, whereas each message has a predefined ``Time-to-Live'' (TTL) counter. The algorithm is analyzed, and is shown to outperform the existing state of the art information propagation algorithms, in terms of convergence time as well as network overhead.
We then show both analytically and experimentally that implementing the proposed algorithm significantly reduces the number of infected mobile devices.
Finally, we analytically prove that the algorithm is tolerant to the presence of adversarial agents that inject false information into the system.
Swarm Intelligence – Searchers, Cleaners and Hunters
This work examines the concept of \emph{swarm intelligence} through three
examples of complex problems which are... more
This work examines the concept of \emph{swarm intelligence} through three
examples of complex problems which are solved by a decentralized swarm of
simple agents. The protocols employed by these agents are presented, as well as
various analytic results for their performance and for the problems in general.
The problems examined are the problem of finding patterns within physical
graphs (e.g. \emph{k-cliques}), the \emph{dynamic cooperative cleaners}
problem, and a problem concerning a swarm of UAVs (unmanned air vehicles),
hunting an evading target (or targets). In addition, the work contains a
discussion regarding open questions and ongoing and future research in this
field.
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