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Receding Horizon Control on the Broadcast of Information in Stochastic Networks

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Distributed Autonomous Robotic Systems (DARS 2022)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 28))

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Abstract

This paper focuses on the broadcast of information on robot networks with stochastic network interconnection topologies. Problematic communication networks are almost unavoidable in areas where we wish to deploy multi-robotic systems, usually due to a lack of environmental consistency, accessibility, and structure. We tackle this problem by modeling the broadcast of information in a multi-robot communication network as a stochastic process with random arrival times, which can be produced by irregular robot movements, wireless attenuation, and other environmental factors. Using this model, we provide and analyze a receding horizon control strategy to control the statistics of the information broadcast. The resulting strategy compels the robots to re-direct their communication resources to different neighbors according to the current propagation process to fulfill global broadcast requirements. Based on this method, we provide an approach to compute the expected time to broadcast the message to all nodes. Numerical examples are provided to illustrate the results.

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Acknowledgements

We gratefully acknowledge the support of ARL DCIST CRA W911NF-17-2-0181, Office of Naval Research (ONR) Award No. N00014-22-1-2157.

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, 19104, USA

    Thales C. Silva, Li Shen & M. Ani Hsieh

  2. Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, 26501, USA

    Xi Yu

Authors
  1. Thales C. Silva
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  2. Li Shen
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  3. Xi Yu
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  4. M. Ani Hsieh
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Corresponding author

Correspondence to Thales C. Silva .

Editor information

Editors and Affiliations

  1. University of Franche-Comté, Montbéliard, France

    Julien Bourgeois

  2. École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland

    Jamie Paik

  3. CNRS, University of Franche-Comté, Besancon, France

    Benoît Piranda

  4. Harvard University, Boston, MA, USA

    Justin Werfel

  5. University of Bristol, Bristol, UK

    Sabine Hauert

  6. Boston University, Boston, MA, USA

    Alyssa Pierson

  7. University of Lübeck, Lubeck, Germany

    Heiko Hamann

  8. The Chinese University of Hong Kong, Shenzhen, Shenzhen, China

    Tin Lun Lam

  9. Kyoto University, Kyoto, Japan

    Fumitoshi Matsuno

  10. University of Illinois System, Urbana, IL, USA

    Negar Mehr

  11. University of Franche-Comté, Montbéliard, France

    Abdallah Makhoul

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Silva, T.C., Shen, L., Yu, X., Hsieh, M.A. (2024). Receding Horizon Control on the Broadcast of Information in Stochastic Networks. In: Bourgeois, J., et al. Distributed Autonomous Robotic Systems. DARS 2022. Springer Proceedings in Advanced Robotics, vol 28. Springer, Cham. https://doi.org/10.1007/978-3-031-51497-5_16

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