arXiv subjects

Aryo Jamshidpey

Publications and source records attributed to Aryo Jamshidpey.

4 recordsLinked to original sources

arXiv2025

Centralization vs. decentralization in multi-robot sweep coverage with ground robots and UAVs

In swarm robotics, decentralized control is often proposed as a more scalable and fault-tolerant alternative to centralized control. However, centralized behaviors are often faster and more efficient than their decentralized counterparts. In any given application, the goals and constraints of the task being solved should guide the choice to use centralized control, decentralized control, or a combination of the two. Currently, the exact trade-offs that exist between centralization and decentralization are not well defined. In this paper, we compare the performance of centralization and decentralization in the example task of sweep coverage, across five different types of multi-robot control structures: random walk, decentralized with beacons, hybrid formation control using self-organizing hierarchy, centralized formation control, and predetermined. In all five approaches, the coverage task is completed by a group of ground robots. In each approach, except for the random walk, the ground robots are assisted by UAVs, acting as supervisors or beacons. We compare the approaches in terms of three performance metrics for which centralized approaches are expected to have an advantage -- coverage completeness, coverage uniformity, and sweep completion time -- and two metrics for which decentralized approaches are expected to have an advantage -- scalability (4, 8, or 16 ground robots) and fault tolerance (0%, 25%, 50%, or 75% ground robot failure).

cs.RO↗

arXiv2025

Multi-UAV Uniform Sweep Coverage in Unknown Environments: A Self-organizing Nervous System (SoNS)-Based Random Exploration

This paper addresses multi-UAV uniform sweep coverage in an unknown convex environment, where a homogeneous UAV swarm must evenly visit every portion of the environment for a sampling task without access to their position and orientation. Random walk exploration is practical in this scenario because it requires no localization and is easy to implement on swarms. We demonstrate that the Self-Organizing Nervous System (SoNS) framework, which enables a robot swarm to self-organize into a hierarchical ad-hoc communication network using local communication, is a promising control approach for random exploration in such environments. To this end, we propose a SoNS-based random walk method in which UAVs self-organize into a line formation and then perform a random walk to cover the environment while maintaining that formation. We evaluate our approach in simulations against several decentralized random walk strategies. Results show that our SoNS-based random walk achieves full coverage faster and with greater coverage uniformity than these benchmark strategies, both globally and in local regions.

cs.RO↗

arXiv2015

Task Allocation in Robotic Swarms: Explicit Communication Based Approaches

In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are unknown. The robots should cover this spots as far as possible to do cleaning and sampling actions desirably. It means that they should discover the spots cooperatively and spread proportional to the spots area and avoid from remaining idle. We proposed 4 self-organized distributed methods which are called hybrid methods for coping with this scenario. In two different experiments the performance of the methods is analyzed. We compared them with each other and investigated their scalability and robustness in term of single point of failure.

cs.MA↗

arXiv2014

An Introduction to Digital Signature Schemes

Today, all types of digital signature schemes emphasis on secure and best verification methods. Different digital signature schemes are used in order for the websites, security organizations, banks and so on to verify user's validity. Digital signature schemes are categorized to several types such as proxy, on-time, batch and so on. In this paper, different types of schemes are compared based on security level, efficiency, difficulty of algorithm and so on. Results show that best scheme depends on security, complexity and other important parameters. We tried simply to define the schemes and review them in practice.

cs.CR↗