Safety and Security in Networked Robotic Systems Via Logical Consensus

Simone Martini, Adriano Fagiolini, Antonio Bicchi, Gianluca Dini



The problem of allowing a set of autonomous mobile robots to plan their motion by reaching consensus on logical observations of the environment is studied in this paper. The particularity of the work is that the information on which the consensus is sought is not represented by real numbers, but rather by logical values such as the presence of an obstacle, of another robot, or of a person. Previous work by the authors considered the problem of allowing a set of agents to consent on the value of a logical vector function by communicating over a network. In this paper, we present application of this result to the motion planning decision problem and show its effectiveness through simulation.


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Paper Citation

in Harvard Style

Martini S., Fagiolini A., Bicchi A. and Dini G. (2009). Safety and Security in Networked Robotic Systems Via Logical Consensus . In - Workshop NESTER, (ICINCO 2009) ISBN , pages 0-0. DOI: 10.5220/0002278600000000

in Bibtex Style

@conference{workshop nester09,
author={Simone Martini and Adriano Fagiolini and Antonio Bicchi and Gianluca Dini},
title={Safety and Security in Networked Robotic Systems Via Logical Consensus},
booktitle={ - Workshop NESTER, (ICINCO 2009)},

in EndNote Style

JO - - Workshop NESTER, (ICINCO 2009)
TI - Safety and Security in Networked Robotic Systems Via Logical Consensus
SN -
AU - Martini S.
AU - Fagiolini A.
AU - Bicchi A.
AU - Dini G.
PY - 2009
SP - 0
EP - 0
DO - 10.5220/0002278600000000