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We consider coverage problems in sensor networks of stationary nodes with minimal geometric data. In particular, there are no coordinates and no localization of nodes. We introduce a new technique for detecting holes in coverage by means of homology, an algebraic topological invariant. The impetus for these techniques is a completion of network(More)
In this paper, we study graphs that arise from certain sensory and communication limitations on the local interactions in multi-agent systems. In particular, we show that the set of graphs that can represent formations corresponds to a proper subset of all graphs and we denote such graphs as connectivity graphs. These graphs have a special structure that(More)
— We consider coverage problems in robot sensor networks with minimal sensing capabilities. In particular, we demonstrate that a " blind " swarm of robots with no localization and only a weak form of distance estimation can rigorously determine coverage in a bounded planar domain of unknown size and shape. The methods we introduce come from algebraic(More)
— In this paper, we present an approach towards the computation of certain topological invariants in real sensor networks. As shown by many researchers, these invariants are relevant for modeling certain properties of the network such as coverage and routing. What has been lacking so far is a concrete decentralized method to compute these invariants for(More)
In this paper, we focus on setting up a gunshot detection system with high detection performance, robustness to noise and low computational complexity. To achieve these objectives, we formulate a two-stage approach with a less costly impulsive event detection framework followed by a relatively more complex gunshot recognition stage. To improve detection(More)
— In this paper, we consider the situation where a collection of leaders dictate the motion of the followers in het-erogenous multi-agent applications. In particular, the followers move according to a decentralized averaging rule, while the leaders' motion is unconstrained. Thus, the trajectories of the leaders can be viewed as exogenous control inputs,(More)
— In this paper, we study the problem of verifying dynamic coverage in mobile sensor networks using certain switched linear systems. These switched systems describe the flow of discrete differential forms on time-evolving simplicial complexes. The simplicial complexes model the connectivity of agents in the network, and the homology groups of the simplicial(More)
— We present a complexity measure for studying the structural complexity of multi-agent robot formations. We base this measure on the total information flow in the system, which is due to sensory perception and communication among agents. We show that from an information theoretic point of view, perception and communication are fundamentally the same. We(More)
The introduction of Kinect-style RGB-D cameras has dramatically revolutionized robotics research in a very short span. However, despite their low cost and excellent indoor performance in comparison with other competing technologies, they face some basic limitations which prevent their use in outdoor environments. Perhaps for the first time, we report an(More)
Mechanically efficient and innovatively designed robots equipped with reliable detection techniques can not only help in greatly reducing the time needed to clear an area inflicted with land-mines but also reduce the life threats to individual deminers. However, prohibitive costs and reliability issues have thus far been hindering the wide scale deployment(More)