Adriano Fagiolini

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In this paper we address the problem of detecting faulty behaviors of cooperative mobile agents. A novel decentralized and scalable architecture that can be adopted to realize a monitor of the agents’ behavior is proposed. We consider agents which may perform different independent tasks, but cooperate to guarantee the entire system’s safety. Agents plan(More)
In this paper we introduce a novel consensus mechanism where agents of a network are able to share logical values, or Booleans, representing their local opinions on e.g. the presence of an intruder or of a fire within an indoor environment. Under suitable joint conditions on agents’ visibility and communication capability, we provide an algorithm generating(More)
This paper addresses a security problem in robotic multi-agent systems, where agents are supposed to cooperate according to a shared protocol. A distributed Intrusion Detection System (IDS) is proposed here, that detects possible non-cooperative agents. Previous work by the authors showed how single monitors embedded on-board the agents can detect non-(More)
In this article, we consider how a very large numbers of robots, differing in their bodies, sensing, and intelligence, may be made to coexist, communicate, and compete fairly toward achieving their individual goals, i.e., to build a society of I robots. We discuss some characteristics that the rules defining acceptable social behaviors should possess. We(More)
A general technique to build a dynamic and distributed intrusion detector for a class of multi-agent systems is proposed in this paper, by which misbehavior in the motion of one or more agents can be discovered. Previous work from the authors has focused on how to distinguish the behavior of a misbehaving agent in a completely distributed way, by developing(More)
This paper focuses on the detection of misbehaving agents within a group of mobile robots. A novel approach to automatically synthesize a decentralized Intrusion Detection System (IDS) as well as an efficient implementation of local monitors are presented. In our scenario, agents perform possibly different independent tasks, but cooperate to guarantee the(More)
We introduce a novel consensus mechanism by which the agents of a network can reach an agreement on the value of a shared logical vector function depending on binary input events. Based on results on the convergence of finite–state iteration systems, we provide a technique to design logical consensus systems that minimize the number of messages to be(More)
In this paper, we present a method to control casting manipulation by means of real-time visual feedback. Casting manipulation is a technique to deploy a robotic end-effector at large distances from the robot’s base, by throwing the end-effector and controlling its ballistic flight using forces transmitted through a light tether connected to the(More)
This paper addresses the clock synchronization problem in a wireless sensor network (WSN) and proposes a distributed solution that consists of a form of consensus, where agents are able to exchange data representing intervals or sets. The solution is based on a centralized algorithm for clock synchronization, proposed by Marzullo, that determines the(More)