Naslov
Trust Consensus Protocol for Heterogeneous Underwater Robotic Systems

Autori
Maždin, Petra ; Arbanas, Barbara ; Haus, Tomislav ; Bogdan, Stjepan ; Petrović, Tamara ; Mišković, Nikola

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS'16) / Hassani, Vahid - : IFAC Proceedings Volumes (IFAC-PapersOnline), 2016, 341-346

Skup
10th IFAC Conference on Control Applications in Marine Systems (CAMS'16)

Mjesto i datum
Trondheim, Norveška, 13.09.2016. - 16.09.2016

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
heterogeneous multi-agent systems ; trust consensus ; switching topology

Sažetak
In this paper we analyze the application of a binary trust-consensus protocol in multi-agent systems with switching communication topology. Trust represents belief of one agent that the other one is capable of executing a speci c task. The approach is motivated by an underwater robot system in which robots, called aMussels, are dispersed in the environment and measure environmental properties (for example sea- current) over a longer period of time, with sensors which are prone to failures. The goal is to apply the binary trust-consensus protocol to enable the system to autonomously detect failures of aMussels. Since direct communication between aMussels is energy consuming, a new type of moving robot, called aFish, is introduced that serves as a carrier of information. Since aFish have a limited communication range, communication topology is switching. Simulations are run first in Matlab for a homogeneous system, and then in a realistic simulation environment for the described scenario with heterogeneous agents. Results show that the protocol converges to the correct trust values and that the convergence time depends on the connectivity of the communication graph.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA