@TechReport{JM:2010TR,
  Title                    = {Safe and Stabilizing Distributed Flocking in Spite of Actuator Faults},
  Author                   = {Taylor Johnson and Sayan Mitra},
  Institution              = {University of Illinois at Urbana Champaign},
  Year                     = {2010},

  Address                  = {Urbana, IL},
  Month                    = {August},
  Number                   = {UILU-ENG-10-2204 (CRHC-10-02)},

  Abstract                 = {The safe flocking problem requires a collection of N mobile agents to (a) converge to and maintain an equi-spaced lattice formation, (b) arrive at a destination, and (c) always maintain a minimum safe separation. Safe flocking in Euclidean spaces is a well-studied and difficult coordination problem. Motivated by real-world deployment of multi-agent systems, this paper studies one-dimensional safe flocking, where agents are afflicted by actuator faults. An actuator fault is a new type of failure that causes an affected agent to be stuck moving with an arbitrary velocity. In this setting, first, a self-stabilizing solution for the problem is presented. This relies on a failure detector for actuator faults. Next, it is shown that certain actuator faults cannot be detected, while others may require O(N) time for detection. Finally, a simple failure detector that achieves the latter bound is presented. Several simulation results are presented that illustrate the algorithm in operation and the effects of failures on progress towards flocking.},
  Biburl                   = {http://users.crhc.illinois.edu/mitras/research.html},
  Keywords                 = {Distributed systems},
  Notes                    = {Technical report UILU-ENG-10-2204 (CRHC-10-02)},
  Owner                    = {mitras},
  Pdfurl                   = {research/2010/johnson2010tr.pdf},
  Timestamp                = {2010.08.09},
  Url                      = {http://www.computer.org/portal/web/csdl/doi/10.1109/ICDCS.2010.49}
}

{"_id":"p47h55trpRvqo8PYE","bibbaseid":"johnson-mitra-safeandstabilizingdistributedflockinginspiteofactuatorfaults-2010","downloads":0,"creationDate":"2017-10-05T05:28:27.033Z","title":"Safe and Stabilizing Distributed Flocking in Spite of Actuator Faults","author_short":["Johnson, T.","Mitra, S."],"year":2010,"bibtype":"techreport","biburl":"http://mitras.ece.illinois.edu/research/sayan.bib","bibdata":{"bibtype":"techreport","type":"techreport","title":"Safe and Stabilizing Distributed Flocking in Spite of Actuator Faults","author":[{"firstnames":["Taylor"],"propositions":[],"lastnames":["Johnson"],"suffixes":[]},{"firstnames":["Sayan"],"propositions":[],"lastnames":["Mitra"],"suffixes":[]}],"institution":"University of Illinois at Urbana Champaign","year":"2010","address":"Urbana, IL","month":"August","number":"UILU-ENG-10-2204 (CRHC-10-02)","abstract":"The safe flocking problem requires a collection of N mobile agents to (a) converge to and maintain an equi-spaced lattice formation, (b) arrive at a destination, and (c) always maintain a minimum safe separation. Safe flocking in Euclidean spaces is a well-studied and difficult coordination problem. Motivated by real-world deployment of multi-agent systems, this paper studies one-dimensional safe flocking, where agents are afflicted by actuator faults. An actuator fault is a new type of failure that causes an affected agent to be stuck moving with an arbitrary velocity. In this setting, first, a self-stabilizing solution for the problem is presented. This relies on a failure detector for actuator faults. Next, it is shown that certain actuator faults cannot be detected, while others may require O(N) time for detection. Finally, a simple failure detector that achieves the latter bound is presented. Several simulation results are presented that illustrate the algorithm in operation and the effects of failures on progress towards flocking.","biburl":"http://users.crhc.illinois.edu/mitras/research.html","keywords":"Distributed systems","notes":"Technical report UILU-ENG-10-2204 (CRHC-10-02)","owner":"mitras","pdfurl":"research/2010/johnson2010tr.pdf","timestamp":"2010.08.09","url":"http://www.computer.org/portal/web/csdl/doi/10.1109/ICDCS.2010.49","bibtex":"@TechReport{JM:2010TR,\n Title = {Safe and Stabilizing Distributed Flocking in Spite of Actuator Faults},\n Author = {Taylor Johnson and Sayan Mitra},\n Institution = {University of Illinois at Urbana Champaign},\n Year = {2010},\n\n Address = {Urbana, IL},\n Month = {August},\n Number = {UILU-ENG-10-2204 (CRHC-10-02)},\n\n Abstract = {The safe flocking problem requires a collection of N mobile agents to (a) converge to and maintain an equi-spaced lattice formation, (b) arrive at a destination, and (c) always maintain a minimum safe separation. Safe flocking in Euclidean spaces is a well-studied and difficult coordination problem. Motivated by real-world deployment of multi-agent systems, this paper studies one-dimensional safe flocking, where agents are afflicted by actuator faults. An actuator fault is a new type of failure that causes an affected agent to be stuck moving with an arbitrary velocity. In this setting, first, a self-stabilizing solution for the problem is presented. This relies on a failure detector for actuator faults. Next, it is shown that certain actuator faults cannot be detected, while others may require O(N) time for detection. Finally, a simple failure detector that achieves the latter bound is presented. Several simulation results are presented that illustrate the algorithm in operation and the effects of failures on progress towards flocking.},\n Biburl = {http://users.crhc.illinois.edu/mitras/research.html},\n Keywords = {Distributed systems},\n Notes = {Technical report UILU-ENG-10-2204 (CRHC-10-02)},\n Owner = {mitras},\n Pdfurl = {research/2010/johnson2010tr.pdf},\n Timestamp = {2010.08.09},\n Url = {http://www.computer.org/portal/web/csdl/doi/10.1109/ICDCS.2010.49}\n}\n\n","author_short":["Johnson, T.","Mitra, S."],"key":"JM:2010TR","id":"JM:2010TR","bibbaseid":"johnson-mitra-safeandstabilizingdistributedflockinginspiteofactuatorfaults-2010","role":"author","urls":{"Paper":"http://www.computer.org/portal/web/csdl/doi/10.1109/ICDCS.2010.49"},"keyword":["Distributed systems"],"downloads":0,"html":""},"search_terms":["safe","stabilizing","distributed","flocking","spite","actuator","faults","johnson","mitra"],"keywords":["cyberphysical systems","distributed systems"],"authorIDs":["59d5c2fab06428b81f000015"],"dataSources":["yMXZF3wFnctJRohbP"]}