@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                 = {Cyberphysical systems, 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}
}