Distributed Estimation and Control of Algebraic Connectivity over Random Graphs

In this paper we propose a distributed algorithm for the estimation and control of the connectivity of ad-hoc networks in the presence of a random topology. First, given a generic random graph, we introduce a novel stochastic power iteration method that allows each node to estimate and track the algebraic connectivity of the underlying expected graph. Using results from stochastic approximation theory, we prove that the proposed method converges almost surely (a.s.) to the desired value of connectivity even in the presence of imperfect communication scenarios. The estimation strategy is then used as a basic tool to adapt the power transmitted by each node of a wireless network, in order to maximize the network connectivity in the presence of realistic Medium Access Control (MAC) protocols or simply to drive the connectivity toward a desired target value. Numerical results corroborate our theoretical findings, thus illustrating the main features of the algorithm and its robustness to fluctuations of the network graph due to the presence of random link failures.Comment: To appear in IEEE Transactions on Signal Processin

GUARDIANS final report

Emergencies in industrial warehouses are a major concern for firefghters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this report we discuss the technology developed for a swarm of robots searching and assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also one of the means to locate the robots and humans. Thus the robot swarm is able to locate itself and provide guidance information to the humans. Together with the re ghters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

Diffusion Adaptation Strategies for Distributed Estimation over Gaussian Markov Random Fields

The aim of this paper is to propose diffusion strategies for distributed estimation over adaptive networks, assuming the presence of spatially correlated measurements distributed according to a Gaussian Markov random field (GMRF) model. The proposed methods incorporate prior information about the statistical dependency among observations, while at the same time processing data in real-time and in a fully decentralized manner. A detailed mean-square analysis is carried out in order to prove stability and evaluate the steady-state performance of the proposed strategies. Finally, we also illustrate how the proposed techniques can be easily extended in order to incorporate thresholding operators for sparsity recovery applications. Numerical results show the potential advantages of using such techniques for distributed learning in adaptive networks deployed over GMRF.Comment: Submitted to IEEE Transactions on Signal Processing. arXiv admin note: text overlap with arXiv:1206.309

Project Final Report – FREEDOM ICT-248891

This document is the final publishable summary report of the objective and work carried out within the European Project FREEDOM, ICT-248891.This document is the final publishable summary report of the objective and work carried out within the European Project FREEDOM, ICT-248891.Preprin

GUARDIANS final report part 1 (draft): a robot swarm assisting a human fire fighter

Emergencies in industrial warehouses are a major concern for fire fighters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist re ghters in searching a large warehouse. In this paper we discuss the technology developed for a swarm of robots assisting re ghters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also the means to locate the robots and humans. Thus the robot swarm is able to provide guidance information to the humans. Together with the fire fighters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

Signaling Design for Cooperative Resource Allocation and its Impact to Reliability

Decentralized cooperative resource allocation schemes for robotic swarms are essential to enable high reliability in high throughput data exchanges. These cooperative schemes require control signaling with the aim to avoid half-duplex problems at the receiver and mitigate interference. We propose two cooperative resource allocation schemes, device sequential and group scheduling, and introduce a control signaling design. We observe that failure in the reception of these control signals leads to non-cooperative behavior and to significant performance degradation. The cause of these failures are identified and specific countermeasures are proposed and evaluated. We compare the proposed resource allocation schemes against the NR sidelink mode 2 resource allocation and show that even though signaling has an important impact on the resource allocation performance, our proposed device sequential and group scheduling resource allocation schemes improve reliability by an order of magnitude compared to sidelink mode 2

Supplementary Material to “Distributed Consensus-based Weight Design for Cooperative Spectrum Sensing”

Abstract—This material is a supplement to the paper “Distributed Consensus-based Weight Design for Cooperative Spectrum Sensing”. Section 1 offers related literature review on cooperative spectrum sensing and consensus algorithms. Section 2 presents related notations and models of the consensus-based graph theory. Section 3 offers further analysis of the proposed spectrum sensing scheme including detection threshold settings and convergence properties in terms of detection performance. Section 4 presents the proofs for the convergence of the proposed consensus algorithm, and discusses the convergence of the proposed algorithm under random link failure network models. Section 5 shows additional simulation results