Decentralized Connectivity-Preserving Deployment of Large-Scale Robot Swarms

We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot be split. The basic idea behind our work is to construct a logical tree topology over the physical network formed by the robots. The logical tree acts as a backbone used by robots to enforce connectivity constraints. We study and compare two algorithms to form the logical tree: outwards and inwards. These algorithms differ in the order in which the robots join the tree: the outwards algorithm starts at the tree root and grows towards the targets, while the inwards algorithm proceeds in the opposite manner. Both algorithms perform periodic reconfiguration, to prevent suboptimal topologies from halting the growth of the tree. Our contributions are (i) The formulation of the two algorithms; (ii) A comparison of the algorithms in extensive physics-based simulations; (iii) A validation of our findings through real-robot experiments.Comment: 8 pages, 8 figures, submitted to IROS 201

Local Fiedler vector centrality for detection of deep and overlapping communities in networks

Abstract—In this paper, a new centrality called local Fiedler vector centrality (LFVC) is proposed to analyze the connectivity structure of a graph. It is associated with the sensitivity of algebraic connectivity to node or edge removals and features distributed computations via the associated graph Laplacian matrix. We prove that LFVC can be related to a monotonic submodular set function that guarantees that greedy node or edge removals come within a factor 11=e of the optimal non-greedy batch removal strategy. Due to the close relationship between graph topology and community structure, we use LFVC to detect deep and overlapping communities on real-world social network datasets. The results offer new insights on community detection by discovering new significant communities and key members in the network. Notably, LFVC is also shown to significantly out-perform other well-known centralities for community detection. I

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

Using Network Dynamical Influence to Drive Consensus

Consensus and decision-making are often analysed in the context of networks, with many studies focusing attention on ranking the nodes of a network depending on their relative importance to information routing. Dynamical influence ranks the nodes with respect to their ability to influence the evolution of the associated network dynamical system. In this study it is shown that dynamical influence not only ranks the nodes, but also provides a naturally optimised distribution of effort to steer a network from one state to another. An example is provided where the "steering" refers to the physical change in velocity of self-propelled agents interacting through a network. Distinct from other works on this subject, this study looks at directed and hence more general graphs. The findings are presented with a theoretical angle, without targeting particular applications or networked systems; however, the framework and results offer parallels with biological flocks and swarms and opportunities for design of technological networks

Fiedler Vector Approximation via Interacting Random Walks

The Fiedler vector of a graph, namely the eigenvector corresponding to the second smallest eigenvalue of a graph Laplacian matrix, plays an important role in spectral graph theory with applications in problems such as graph bi-partitioning and envelope reduction. Algorithms designed to estimate this quantity usually rely on a priori knowledge of the entire graph, and employ techniques such as graph sparsification and power iterations, which have obvious shortcomings in cases where the graph is unknown, or changing dynamically. In this paper, we develop a framework in which we construct a stochastic process based on a set of interacting random walks on a graph and show that a suitably scaled version of our stochastic process converges to the Fiedler vector for a sufficiently large number of walks. Like other techniques based on exploratory random walks and on-the-fly computations, such as Markov Chain Monte Carlo (MCMC), our algorithm overcomes challenges typically faced by power iteration based approaches. But, unlike any existing random walk based method such as MCMCs where the focus is on the leading eigenvector, our framework with interacting random walks converges to the Fiedler vector (second eigenvector). We also provide numerical results to confirm our theoretical findings on different graphs, and show that our algorithm performs well over a wide range of parameters and the number of random walks. Simulations results over time varying dynamic graphs are also provided to show the efficacy of our random walk based technique in such settings. As an important contribution, we extend our results and show that our framework is applicable for approximating not just the Fiedler vector of graph Laplacians, but also the second eigenvector of any time reversible Markov Chain kernel via interacting random walks.Comment: in ACM SIGMETRICS, Boston, MA, June 2020, to appear. (Also will be in Proc. ACM Meas. Anal. Comput. Syst (POMACS), March 2020

Distributed computation of the Fiedler vector with application to topology inference in ad hoc networks

The Fiedler vector of a graph is the eigenvector corresponding to the smallest non-trivial eigenvalue of the graph's Laplacian matrix. The entries of the Fiedler vector are known to provide a powerful heuristic for topology inference, e.g., to identify densely connected node clusters, to search for bottleneck links in the information dissemination, or to increase the overall connectivity of the network. In this paper, we consider ad hoc networks where the nodes can process and exchange data in a synchronous fashion, and we propose a distributed algorithm for in-network estimation of the Fiedler vector and the algebraic connectivity of the corresponding network graph. The algorithm is fully scalable with respect to the network size in terms of per-node computational complexity and data transmission. Simulation results demonstrate the performance of the algorithm. © 2012 Elsevier B.V. All rights reserved.status: publishe

Distributed Detection and Estimation in Wireless Sensor Networks: Resource Allocation, Fusion Rules, and Network Security

This thesis addresses the problem of detection of an unknown binary event. In particular, we consider centralized detection, distributed detection, and network security in wireless sensor networks (WSNs). The communication links among SNs are subject to limited SN transmit power, limited bandwidth (BW), and are modeled as orthogonal channels with path loss, flat fading and additive white Gaussian noise (AWGN). We propose algorithms for resource allocations, fusion rules, and network security. In the first part of this thesis, we consider the centralized detection and calculate the optimal transmit power allocation and the optimal number of quantization bits for each SN. The resource allocation is performed at the fusion center (FC) and it is referred as a $centralized$ approach. We also propose a novel fully $distributed$ algorithm to address this resource allocation problem. What makes this scheme attractive is that the SNs share with their neighbors just their individual transmit power at the current states. Finally, the optimal soft fusion rule at the FC is derived. But as this rule requires a-priori knowledge that is difficult to attain in practice, suboptimal fusion rules are proposed that are realizable in practice. The second part considers a fully distributed detection framework and we propose a two-step distributed quantized fusion rule algorithm where in the first step the SNs collaborate with their neighbors through error-free, orthogonal channels. In the second step, local 1-bit decisions generated in the first step are shared among neighbors to yield a consensus. A binary hypothesis testing is performed at any arbitrary SN to optimally declare the global decision. Simulations show that our proposed quantized two-step distributed detection algorithm approaches the performance of the unquantized centralized (with a FC) detector and its power consumption is shown to be 50% less than the existing (unquantized) conventional algorithm. Finally, we analyze the detection performance of under-attack WSNs and derive attacking and defense strategies from both the Attacker and the FC perspective. We re-cast the problem as a minimax game between the FC and Attacker and show that the Nash Equilibrium (NE) exists. We also propose a new non-complex and efficient reputation-based scheme to identify these compromised SNs. Based on this reputation metric, we propose a novel FC weight computation strategy ensuring that the weights for the identified compromised SNs are likely to be decreased. In this way, the FC decides how much a SN should contribute to its final decision. We show that this strategy outperforms the existing schemes