@InProceedings{JM:SSS2010,
  Title                    = {Safe Flocking in spite of Actuator Faults},
  Author                   = {Taylor Johnson and Sayan Mitra},
  Booktitle                = {In proceedings of 12th International Symposium on Stabilization, Safety, and Security of Distributed Systems},
  Year                     = {2010},
  Publisher                = {Springer},
  Series                   = {LNCS},

  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 newtype 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 for illustrating the effects of failures on the progress towards flocking.},
  Biburl                   = {http://users.crhc.illinois.edu/mitras/research.html},
  Keywords                 = {Distributed systems, Cyberphysical systems},
  Owner                    = {mitras},
  Pdfurl                   = {research/2010/sss2010.pdf},
  Ppturl                   = {research/presentations/icdcs2010slides.pdf},
  Timestamp                = {2010.08.03},
  Url                      = {http://dl.acm.org/citation.cfm?id=1926829.1926876&coll=DL&dl=GUIDE&CFID=99228380&CFTOKEN=13940715}
}