Optimizing Topologies for Probabilistically Secure Multi-Robot Systems
Remy Wehbe,Ryan K. Williams,Remy Wehbe,Ryan K. Williams
In this paper, we optimize the interaction graph of a multi-robot system (MRS) by maximizing its probability of security while requiring the MRS to have the fewest edges possible. Edges that represent robot interactions exist according to a probability distribution and security is defined using the control theoretic notion of left invertibility. To compute an optimal solution to our problem, we fi...
