Trust-Based Information Propagation on Multi-robot Teams in Noisy Low-Communication Environments

  • Kenneth BowersEmail author
  • Laura Strickland
  • Gregory Cooke
  • Charles Pippin
  • Theodore P. Pavlic
Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 9)


One of the challenging requirements of large multi-robot systems is scalable communication methods that are robust to noisy low-communication environments. On a multi-hop, wireless sensor network, it may be desirable for a node to issue a system-wide alert on detection of an event of interest. However, if there is a high false-positive rate, then system-wide false alarms may frequently occur. Giant honeybees (Apis dorsata) generate large-scale spiral waves triggered by the presence of a threat. Studies show that the initial seed of the waves and the re-transmission behavior are non-trivial and thus may be specially tuned for this low-communication scenario. Motivated by these adaptive patterns in giant honeybees, we develop a distributed approach for sharing awareness of critical events that is able to damp the propagation of false-alarm signals. We validate the algorithm’s performance for a WSN detecting a hostile UAV in the SCRIMMAGE simulation framework.


Wireless sensor networks Trust Information cascade Rumor spreading Low communication SCRIMMAGE Multi-agent system 



This work was supported by DARPA under the Bio-Inspired Swarming seedling project, contract FA8651-17-F-1013.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Kenneth Bowers
    • 1
    Email author
  • Laura Strickland
    • 1
  • Gregory Cooke
    • 1
  • Charles Pippin
    • 1
  • Theodore P. Pavlic
    • 2
  1. 1.Georgia Tech Research InstituteAtlantaGeorgia
  2. 2.School of Computing, Informatics, and Decision Systems EngineeringArizona State UniversityTempeUSA

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