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We characterize the advantage of using a robots neighborhood to find and eliminate adversarial robots in the presence of a Sybil attack. We show that by leveraging the opinions of its neighbors on the trustworthiness of transmitted data, robots can detect adversaries with high probability. We characterize a number of communication rounds required to achieve this result to be a function of the communication quality and the proportion of legitimate to malicious robots. This result enables increased resiliency of many multi-robot algorithms. Because our results are finite time and not asymptotic, they are particularly well-suited for problems with a time critical nature. We develop two algorithms, emph{FindSpoofedRobots} that determines trusted neighbors with high probability, and emph{FindResilientAdjacencyMatrix} that enables distributed computation of graph properties in an adversarial setting. We apply our methods to a flocking problem where a team of robots must track a moving target in the presence of adversarial robots. We show that by using our algorithms, the team of robots are able to maintain tracking ability of the dynamic target.
Effective human-robot collaboration (HRC) requires extensive communication among the human and robot teammates, because their actions can potentially produce conflicts, synergies, or both. We develop a novel augmented reality (AR) interface to bridge
Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially cooperative policies. Ho
This conceptual paper overviews how blockchain technology is involving the operation of multi-robot collaboration for combating COVID-19 and future pandemics. Robots are a promising technology for providing many tasks such as spraying, disinfection,
In this paper we consider infinite horizon discounted dynamic programming problems with finite state and control spaces, partial state observations, and a multiagent structure. We discuss and compare algorithms that simultaneously or sequentially opt
We present situated live programming for human-robot collaboration, an approach that enables users with limited programming experience to program collaborative applications for human-robot interaction. Allowing end users, such as shop floor workers,