@conference {
	title = {Learning Behaviors for Coordination in Networked Systems and a Generalized Consensus Protocol},
	author = {Hovareshti, Pedram., Baras, John S.},
	year = {2011},
	month = {12/2011},
	abstract = {We consider the problem of coordination for efficient joint decision making in networks of autonomous agents. When making a decision, an agent is influenced by its knowledge about others{\textquoteright} behaviors. Agents{\textquoteright} understanding of others{\textquoteright} behaviors is shaped through observing their actions over a long time. We have modeled the decision making on whether to cooperate in a group effort as a result of a series of two-person games between agents, where the payoff of each agent is computed as the sum of its payoffs from each of these games. The agents initially have different behaviors. In order to maximize their pay-off, they need to learn the others{\textquoteright} behavior and coordinate with them. We consider a behavior learning algorithm for a class of behavior functions and study its effects on the emergence of coordination in the network. The conditions under which the learning algorithm converges are studied. We show that for a class of linear functions the learning algorithm results in an extension of non-homogeneous consensus protocol to the more general case of block-stochastic matrices.},
	address = {Orlando, Florida},
	booktitle = {50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011)},
	pages = {pp. 2447-2452}
}
@conference {
	title = {Distributed Medium Access and Opportunistic Scheduling for Ad-Hoc Networks: An Analysis of the Constant Access Time Problem},
	author = {Chen, Hua., Hovareshti, Pedram., Baras, John S.},
	year = {2011},
	month = {12/2011},
	abstract = {In this paper, we study the problem of medium access and distributed opportunistic scheduling to exploit channel fluctuations for wireless ad-hoc networks. This work focuses on the Constant Access Time (CAT) problem, where the total time duration of channel probing and data transmission is slotted into fixed block length. In particular, we consider the dependence between channel rates at different time instances during the channel probing phase and its impact on the overall system throughput. We first analyze the system performance of the CAT problem under independent channel rate assumption and compare our result to the existing work on the Constant Data Time (CDT) problem. We then propose a protocol to reduce the channel probing costs based on this analysis. We show analytical results of the proposed protocol for systems with a sufficiently large number of users. We compare the system performance of the proposed protocol with that of the original protocol under independent channel rate assumption. We mathematically prove that the proposed protocol improves the system performance.},
	address = {Houston Texas},
	booktitle = {IEEE Globecom 2011},
	pages = {pp. 1-6}
}
@conference {
	title = {Communication Network Challenges for Collaborative Vehicles},
	author = {Chen, Hua., Hovareshti, Pedram., Baras, John S.},
	year = {2011},
	month = {11/2011},
	abstract = {Networked systems of autonomous mobile agents have emerged in a variety of applications such as collaborative robotics, unmanned aerial/ground vehicles, mobile sensor networks and disaster relief operations. These agents utilize wireless communications for distributed computing, control and decision-making. Due to their limitations on energy supply, design and implementation of efficient distributed algorithms are crucial for these systems. This paper reviews different design aspects of networks of collaborative vehicles. We survey existing methods of addressing physical (PHY) and medium access control (MAC) layer, routing, and geometric connectivity issues for such networks and show limitations of these designs that address only single layer issues. We argue that a system engineering framework is needed for the design of such systems.},
	address = {Pacific Grove CA},
	booktitle = {Asilomar Conference on Signals, Systems, and Computers},
	pages = {pp. 1472-1476}
}
@conference {
	title = {Motif-based Topology Design for Effective Performance by Networks of Mobile Autonomous Vehicles},
	author = {Hovareshti, Pedram., Chen, Hua., Baras, John S.},
	year = {2011},
	month = {06/2011},
	abstract = {To design efficient local connectivity patterns, we have used the idea of network motifs, which was first proposed in the context of biological networks. Network motifs are task specific local connectivity patterns, which exist with much higher frequency in real biological networks compared to those in random networks. These are sub-networks of a low number of nodes (usually 3-4) whose persistence in networks performing similar tasks in different contexts, imply their efficiency in the sense that they optimize certain performance metric in a local scale. We use a simulation test bed to find network motifs for local level communication structures in a collaborative vehicles framework. Here, the group mission consists of several tasks that the agents participate in. The tasks include search operation, data gathering/processing, target finding and leader-follower explorations. Each task gives rise to certain motifs that are specific to that task and the partial knowledge of the environment specifications that the agents operate in. In this way, given the subtasks that are necessary for the mission accomplishment, the most efficient task-specific local topologies are extracted. Switching suitable graphs when the mode of operation is changing can be handled by solving the resulting reachability problem using methods for symbolic planning such as graph grammars. Based on such switching, we also address the effects of split/merge operations on the spectral characteristics of the resulting connectivity graphs.},
	address = {Quincy, MA},
	booktitle = {Eighth International Conference on Complex Systems (ICCS 2011),},
	pages = {pp.  571-573}
}
@conference {
	title = {Opportunistic Communications for Networked Controlled Systems of Autonomous Vehicles},
	author = {Chen, Hua., Hovareshti, Pedram., Baras, John S.},
	year = {2010},
	month = {10/2010},
	abstract = {Situational awareness requires maintaining a reasonable level of communication connectivity in networks of autonomous vehicles. It is difficult to overcome deep fading from time-varying wireless channels in a dynamic and resource constrained environment. Moreover, other system constraints such as the energy consumption and total operation time make the design of communication protocols for such systems more challenging. In this paper, we consider the problem of efficient communications between a group of autonomous vehicles with energy consumption and total operation time constraints in an adversarial environment. We show that the policy of continuously attempting to communicate reliably over the course of the mission may lead to considerable system degradation. We propose an adaptive algorithm to make communication attempts opportunistically, based on the qualities of the wireless channels as the vehicles move throughout the terrain. We compare the proposed algorithm with a non-opportunistic algorithm in which the vehicles blindly attempt to communicate regularly throughout the course of the mission. We show that the proposed algorithm significantly improves the system performance, both in terms of operation time when the agents transmit only situational information and data throughput when additional data transmission is necessary.},
	address = {San Jose, CA},
	booktitle = {2010 Military Communications Conference (MILCOM 2010)},
	pages = {pp. 1306-1311}
}
@conference {
	title = {Efficient communication Infrastructures for Distributed Control and Decision Making in Networked Stochastic Systems},
	author = {Baras, John S., Hovareshti, Pedram.},
	year = {2010},
	month = {07/2010},
	abstract = {In networked systems, groups of agents achieve certain objectives via interaction at local levels in a distributed manner. the performance of such systems is determined by the communication infrastructure of the network as well as the system dynamics. In this paper we study the interdependence of the communication and collaboration graphs in a networked system, in the context of a coordination control and decision making problem. Each agent has to make a decision on whether to cooperate or not in a group effort. this is modelled by two-person coordination games between neighboring agents. the payoff of each agent is computed as the sum of the agent{\textquoteright}s payoffs from each of these games. Each agent{\textquoteright}s decision on whether to collaborate or not is based on its personal understanding of its own behavioral tendencies as well as its neighbors{\textquoteright}. to account for this fact we endow the agents with a behavioral variable which indicates how risk averse each agent is. The effect of the agents on each other is governed by an influence matrix which is partially derived from the communication graph{\textquoteright}s topology. This paper focuses on three major issues: The learning algorithm, the effect of communication network topology on the fast convergence of the scheme, the characterization of the effect of the number of like- minded agents and their well-connectedness as major decisive factors on which equilibrium is attained.},
	address = {Budapest, Hungary},
	booktitle = {The 19th International Symposium on Mathematical Theory of Networks and Systems (MTNS 2010)},
	pages = {pp. 1-6}
}
@conference {
	title = {Distributed Collaborative Controlled Autonomous Vehicle Systems over Wireless Networks},
	author = {Chen, Hua., Hovareshti, Pedram., Baras, John S.},
	year = {2010},
	month = {06/2010},
	abstract = {Inspired by military tactical, civil help-and-rescue applications, it is desirable yet challenging to develop networked systems of autonomous vehicles and sensors in dynamic, resource-constrained and adversarial environments. An essential aspect of designing such collaborative systems is to address the communication needs of the vehicles in order to perform a given mission. The vehicles{\textquoteright} communication network should maintain a connectivity pattern based on the requirements of the mission. In this paper, we consider both the control and communication aspects for coordinated path planning of a group of autonomous vehicles in an adversarial environment. We propose distributed algorithms to control the vehicles{\textquoteright} trajectories over a wireless vehicle-to-vehicle network. Distributed control algorithms both with and without collaboration between the vehicles are presented. We study the performance of the wireless network over the distributed controlled autonomous vehicles. Simulation results show that collaboration between vehicles results in better performance for path planning and wireless inter-vehicle communications. However, contention based communication protocols are likely to fail due to severe channel conditions.},
	address = {Marrakech, Morocco},
	booktitle = {18th Mediterranean Conference onControl and Automation (MED 2010)},
	pages = {pp. 1695-1700}
}
@conference {
	title = {Efficient and Robust Communication Topologies for Distributed Decision Making in Networked Systems},
	author = {Baras, John S., Hovareshti, Pedram.},
	year = {2009},
	month = {12/2009},
	abstract = {Distributed decision making in networked systems depends critically on the timely availability of critical fresh information. Performance of networked systems, from the perspective of achieving goals and objectives in a timely and efficient manner is constrained by their collaboration and communication structures and their interplay with the networked system{\textquoteright}s dynamics. In most cases achieving the system objectives requires many agent to agent communications. A reasonable measure for system robustness to communication topology change is the number of spanning trees in the graph abstraction of the communication system. We address the problem of network formation with robustness and connectivity constraints. Solutions to this problem have also applications in trust and the relationship of trust to control. We show that the general combinatorial problem can be relaxed to a convex optimization problem. We solve the special case of adding a shortcut to a given structure and provide insights for derivation of heuristics for the general case. We also analyze the small world effect in the context of abrupt increases in the number of spanning trees as a result of adding a few shortcuts to a base lattice in the Watts-Strogatz framework and thereby relate efficient topologies to small world and expander graphs.},
	address = {Shanghai, China},
	booktitle = {48th IEEE Conference on Decision and Control},
	pages = {pp. 3751-3756}
}
@conference {
	title = {Dynamic Self-Organization and Clustering in Distributed Networked Systems for Performance Improvement},
	author = {Baras, John S., Hovareshti, Pedram., Perumal, Senni.},
	year = {2009},
	month = {09/2009},
	abstract = {We consider two closely related dynamic self-organization problems in networked control systems. Both are forms of the~dynamic clustering of nodes. The structure of networked control systems is often abstracted using graph theory. In this abstraction, the nodes of the graph represent the agents and the edges between them represent the relation(s) or the possibility of communication between the corresponding agents. The topology of the communication network supporting a networked control system has critical consequences for its performance. The first problem we address is the development of a distributed self-organization algorithm, resulting into a dynamic two level hierarchy of leader and regular agents, which substantially improves the convergence speed of distributed algorithms utilized by the networked control system. For the second problem, we consider the collaborative control of a group of autonomous mobile agents (e.g. vehicles, robots) supported by a mobile wireless network, consisting of many grounds and a few aerial nodes. The agents collaborate to achieve a common goal or objective, like to move in a particular area and cover it, while avoiding obstacles and collisions. Building upon our earlier work on deterministic, randomized and hybrid distributed coordination algorithms we consider the communication needs of the agents, and in particular, the connectivity of their communication network as they move. We develop distributed algorithms that automatically select some agents and move them appropriately so as to maintain a~certain degree of desired connectivity among the moving agents. We characterize the trade-off between the gain from maintaining a certain degree of connectivity vs. the combined cost of communications and the associated dynamic re-positioning of agents. We also describe classes of efficient communication topologies and in particular their similarity to dynamic small-world topologies and extensions.},
	address = {Montecello, Illinois},
	booktitle = {Forty-Seventh Annual Allerton Conference on Communication, Control, and Computing (Allerton Conference 2009)},
	pages = {pp. 968-975},
	organization = {University of Illinois at Urbana-Champaign}
}
@conference {
	title = {Coalition Formation and Trust in Collaborative Control},
	author = {Baras, John S., Jiang, Tao., Hovareshti, Pedram.},
	year = {2009},
	month = {08/2009},
	abstract = {We consider the collaboration of autonomous agents as a coalitional game subject to constraints, like communication, trust or reputation. We analyze the tradeoff between the benefits of collaboration and these constraints (or costs of collaboration) via dynamic, iterative stochastic games. The agents can observe locally the actions of other agents in their neighborhood and decide whether to collaborate or not in a distributed asynchronous manner. Trust values are taken into consideration when agents act and collaborate. Specifically they affect the selection of agents to collaborate with. We consider only problems where the information used for either estimating reputations or deciding on strategies is mostly local; i.e. from the neighbors of each agent. We show that randomized algorithms emerge as the agents try to reach the maximum payoff. We also investigate the topology of the formed network by studying the second largest eigenvalue of the corresponding graph, and describe its effects on control performance.},
	address = {Budapest, Hungary},
	booktitle = {European Control Conference 2009 (ECC {\textquoteright}09)},
	pages = {pp.1197-1202}
}
@conference {
	title = {Event Triggered Distributed Collaborative Control},
	author = {Baras, John S., Hovareshti, Pedram., Perumal, Senni.},
	year = {2009},
	month = {08/2009},
	abstract = {We consider the collaborative control of a group of autonomous mobile agents (e.g. vehicles, robots). The agents collaborate to achieve a common goal or objective, like to move in a particular area and cover it, while avoiding obstacles and collisions. Building upon our earlier work on deterministic, randomized and hybrid distributed coordination algorithms we consider the communication needs of the agents, and in particular, the connectivity of their communication network as they move. We develop algorithms that automatically sense the possibility or inset of loss of connectivity among the agents. We also consider the automatic detection of path disconnection when more than one paths need to be maintained between pairs of agents. Using local probing schemes we formulate such problems as event-triggered control problems. We develop distributed algorithms that automatically select some agents and move them appropriately so as to maintain a~certain degree of desired connectivity among the moving agents. We characterize the trade-off between the gain from maintaining a certain degree of connectivity vs the combined cost of communications and the associated dynamic re-positioning of agents. The results illustrate the efficiency achieved by the~event-triggered control in such problems. We also describe the resulting communication topologies and in particular their similarity to dynamic small-world topologies.},
	address = {Budapest, Hungary},
	booktitle = {European Control Conference 2009 (ECC {\textquoteright}09)},
	pages = {pp.3797-3802}
}
@conference {
	title = {Effects of Topology in Networked Systems: Stochastic Methods and Small Worlds},
	author = {Baras, John S., Hovareshti, Pedram.},
	year = {2008},
	month = {12/2008},
	abstract = {The topology of a networked control system has critical consequences for its performance. We provide first substantial examples on the effects of topology. Then we proceed to develop a rigorous evaluation of topology effects using stochastic methods inspired from statistical physics and Markov chains. This analysis leads us to proofs on faster convergence of distributed algorithms in networked systems for certain topologies and especially small-world topologies, which are~given an {\textquoteleft}efficiency{\textquoteright} characterization. Finally, these results lead to the development of self-organization of such systems in hierarchies that provably improve performance and response.},
	address = {Cancun, Mexico},
	booktitle = {47th IEEE Conference on Decision and Control},
	pages = {pp. 2973-2978}
}
@conference {
	title = {Average Consensus over Small World Networks: A Probabilistic Framework},
	author = {Hovareshti, Pedram., Baras, John S., Gupta, Vijay.},
	year = {2008},
	month = {12/2008},
	abstract = {It has been observed that adding a few long range edges to certain graph topologies can significantly increase the rate of convergence for consensus algorithms. A notable example is the class of ring-structured Watts-Strogatz small world graphs. Building on probabilistic methods for analyzing {\textquoteleft}small-world phenomena{\textquoteright}, developed in our earlier work, we provide here a probabilistic framework for analyzing this effect. We investigate what graph characteristics lead to such a significant improvement and develop bounds to analyze consensus problems on randomly varying graphs.},
	address = {Cancun, Mexico},
	booktitle = {47th IEEE Conference on Decision and Control},
	pages = {pp. 375-380}
}
@conference {
	title = {A Policy-Based Routing Scheme for Multi-Robot Systems},
	author = {Purkayastha, Punyaslok., Hovareshti, Pedram., Baras, John S.},
	year = {2008},
	month = {06/2008},
	abstract = {In this paper, we consider a policy-based routing scheme for a wireless communication network consisting of a set of robots as nodes. Our scheme provides a communication infrastructure that enables the multi-robot system to accomplish its assigned tasks. Our scheme is adaptive and can be implemented in a distributed manner by the nodes of the network. The scheme makes estimates of link and path costs in the network and uses these estimates to construct probabilistic routing tables in the nodes. We use ideas from the literature on simulation methods for approximate dynamic programming to compute, in a distributed manner, the cost estimates.We propose two schemes that update the probabilistic routing tables at the nodes of the network. One of the schemes is an adaptation of the Linear Reward Inaction rule found in studies of stochastic learning automata. Our other scheme is a modification of an Ant-Based Routing algorithm. We assume a simple model of the link behavior in the wireless network - a message transmission on a wireless link is assumed to be successful with a certain probability and is lost otherwise. We also analyze our algorithms and show that our probabilistic update schemes direct packets along paths with low costs.},
	address = {Ajaccio, France},
	booktitle = {16th Mediterranean Conference on Control and Automation},
	pages = {pp. 970-975}
}
@conference {
	title = {Sensor Scheduling using Smart Sensors},
	author = {Hovareshti, Pedram., Gupta, Vijay., Baras, John S.},
	year = {2007},
	month = {12/2007},
	abstract = {The sensor selection problem arises when multiple sensors are jointly trying to estimate a process but only a subset of them can take and/or use measurements at any time step. In a networked estimation situation, sensors are typically equipped with some memory and processing capabilities. We illustrate that utilization of these capabilities can lead to significant performance gains in the sensor selection problem for improved estimation performance. Further, it also leads to significant pruning of the search tree that yields the optimum sensor schedule. We also present a periodicity result for the case where the decision is whether the sensor should transmit or not.},
	address = {New Orleans, Louisiana},
	booktitle = {46th IEEE Conference on Decision and Control},
	pages = {pp. 494-499}
}
@conference {
	title = {Probabilistic Switching and Convergence Rate in Consensus Problems},
	author = {Hovareshti, Pedram., Baras, John S., Gupta, Vijay.},
	year = {2007},
	month = {09/2007},
	abstract = {We consider the convergence problem of consensus seeking agents and the effect of probabilistic switching on the convergence rate. Using a probabilistic setting, we develop a framework to study the convergence rate for different classes of graph topologies, including Small World networks. We show that by making the effective diameter of the underlying graph small, probabilistic switching can be helpful in the design of fast consensus algorithms.},
	address = {Chicago, Illinois},
	booktitle = {Allerton Conference on Communication, Control and Computing},
	pages = {pp. 423-430},
	organization = {Allerton House, UIUC}
}
@conference {
	title = {Effects of Graph Topology on Performance of Distributed Algorithms for Networked Control and Sensing},
	author = {Baras, John S., Hovareshti, Pedram.},
	year = {2007},
	month = {06/2007},
	abstract = {We consider distributed collaborative control andsensing as they frequently arise in networked control systems.The algorithms are constrained to use local information. Weshow by experiments that the performance of such distributed,local information based algorithms, can depend dramaticallyon the structure of the underlying topology (connectivitypattern) of the agents. We investigate the speed of convergence,accuracy, robustness and resiliency of such algorithms includingconsensus problems. We consider several graphs that can beused to represent collaborative control and communicationpatterns. We first show that small world topologies offer severaladvantages from a perspective of a favorable tradeoff betweenperformance of collaborative behaviors vs costs of collaborativebehaviors (or equivalently constraints for collaboration). Second,we show that a two level hierarchy consisting of carefullylocated and controlled leaders at the higher level and therest of the agents at the lower level, can provide a veryefficient communication pattern with substantial improvementof performance. We close with a description of the possibletopologies for this two tier structure and their performance.},
	address = {Kalamata, Greece},
	booktitle = {Proceedings of the 2007 Kalamata Workshop on Networked Distributed Systems for Intelligent Sensing and Control},
	pages = {pp. 1-8},
	organization = {Filoxenia}
}
@conference {
	title = {Consensus Problems on Small World Graphs: A Structural Study},
	author = {Hovareshti, Pedram., Baras, John S.},
	year = {2006},
	month = {05/2006},
	abstract = {Consensus problems arise in many instances of collaborative control of multi-agent complex systems; where it is important for the agents to act in coordination with the other agents. To reach coordination, agents need to share information. In large groups of agents the information sharing should be local in some sense, due to energy limitation, reliability, and other constraints. A consensus protocol is an iterative method that provides the group with a common coordination variable. However, local information exchange limits the speed of convergence of such protocols. Therefore, in order to achieve high convergence speed, we should be able to design appropriate network topologies. A reasonable conjecture is that the small world graphs should result in good convergence speed for consensus problems because their low average pairwise path length should speed the diffusion of information in the system. In this paper we address this conjecture by simulations and also by studying the spectral properties of a class of matrices corresponding to consensus problems on small world graphs.},
	address = {Boston, Massachusetts},
	booktitle = {2006 International Conference on Complex Systems},
	pages = {pp. 1-8}
}
@conference {
	title = {Decentralized control of autonomous vehicles},
	author = {Baras, John S., Tan, Xiaobo., Hovareshti, Pedram.},
	year = {2003},
	month = {12/2003},
	abstract = {Decentralized control methods are appealing in coordination of multiple vehicles due to their low demand for long-range communication and their robustness to single-point failures. In this paper we explore a decentralized approach to path generation for a group of vehicles in a battlefield scenario. The mission is to maneuver the vehicles to cover a target area while avoiding obstacles and threats during the maneuver. Each vehicle makes its moving decision by minimizing a potential function that encodes information about its neighbours, obstacles, threats and the target. Preliminary analysis of vehicle behaviors is conducted. Simulation has shown that this approach leads to interesting emergent behaviors, and the behaviors can be varied by adjusting the weighting coefficients of different potential function terms.},
	address = {Maui, Hawaii},
	booktitle = {42nd IEEE Conference on Decision and Control},
	pages = {pp. 1532-1537}
}
@conference {
	title = {INORA-A Unified Signaling and Routing Mechanism for QoS Support in Mobile Ad Hoc Networks},
	author = {Dharmaraju, Dinesh., Roy-Chowdhury, Ayan., Hovareshti, Pedram., Baras, John S.},
	year = {2002},
	month = {08/2002},
	abstract = {Mobile Ad hoc NETworks(MANET) are characterized by bandwidth constrained wireless links, multiple hops and highly dynamic topologies. Providing QoS support in MANETs is hence a challenging task. This paper presents the design, implementation and evaluation of INORA, which is a network layer QoS support mechanism that makes use of the INSIGNIA in-band signaling mechanism and TORA routing protocol for MANETs. TORA provides multiple routes between a given source and destination. We present an effective coupling between TORA and INSIGNIA to get routes that are {\textquotedblleft}best-able{\textquotedblright} to provide QoS requirements for a flow. INORA also combines congestion control with routing},
	address = {Vancouver, Canada},
	booktitle = {International Conference on Parallel Processing Workshops},
	pages = {pp. 86-93},
	organization = {British Columbia}
}
@techreport {
	title = {Sensor Scheduling using Smart Sensors},
	author = {Hovareshti, Pedram., Gupta, Vijay., Baras, John S.},
	year = {2007},
	month = {07/2007},
	abstract = {The sensor selection problem arises when multiple sensors are jointly trying to estimate a process but only a subset of them can take and/or use measurements at any time step. In a networked estimation situation, sensors are typically equipped with some memory and processing capabilities. We illustrate that utilization of these capabilities can lead to significant performance gains in the sensor selection problem for improved inference. Further, it also leads to significant pruning of the search tree that yields the optimum sensor schedule. We also present a periodicity result for the case where the decision is whether the sensor should transmit or not.}
}
@techreport {
	title = {Consensus Problems on Small World Graphs: A Structural Study},
	author = {Hovareshti, Pedram.},
	year = {2006},
	month = {01/2006},
	abstract = {Consensus problems arise in many instances of collaborative control of multi-agent complex systems; where it is important for the agents to act in coordination with the other agents. To reach coordination, agents need to share information. In large groups of agents the information sharing should be local in some sense, due to energy limitation, reliability, and other constraints. A consensus protocol is an iterative method that provides the group with a common coordination variable. However, local information exchange limits the speed of convergence of such protocols. Therefore, in order to achieve high convergence speed, we should be able to design appropriate network topologies. A reasonable conjecture is that the small world graphs should result in good convergence speed for consensus problems because their low average pairwise path length should speed the diffusion of information in the system. In this paper we address this conjecture by simulations and also by studying the spectral properties of a class of matrices corresponding to consensus problems on small world graphs.},
	number = {Number: ISR TR 2006-10}
}
@techreport {
	title = {Decentralized Control of Autonomous Vehicles},
	author = {Tan, Xiaobo., Hovareshti, Pedram.},
	year = {2003},
	month = {01/2003},
	abstract = {Decentralized control methods are appealing in coordination ofmultiple vehicles due to their low demand for long-range communication and their robustness to single-point failures. An important approach in decentralized multi-vehicle control involves artificial potentials or digital pheromones. In this paper we explore a decentralized approach to path generation for a group of combat vehicles in a battlefield scenario. The mission is to maneuver the vehicles to cover a target area. The vehicles are required to maintain good overall area coverage, and avoid obstacles and threats during the maneuvering. The gradient descent method is used, where each vehicle makes its moving decision by minimizing a potential function that encodes information about its neighbours, obstacles, threats and the target. We conduct analysis of vehicle behaviors by studying the vector field induced by the potential function. Simulation has shown that this approach leads to interesting emergent behaviors, and the behaviors can be varied by adjusting the weighting coefficientsof different potential function terms.},
	number = {Number: CSHCN TR 2003-8}
}
@techreport {
	title = {INORA- A Unified Signaling and Routing Protocol in Mobile AdHoc networks},
	author = {Dharmaraju, Dinesh., Roy-Chowdhury, Ayan., Hovareshti, Pedram.},
	year = {2002},
	month = {01/2002},
	abstract = {Mobile Ad hoc NETworks(MANET) are characterized by bandwidthconstrained wireless links, multiple hops and highly dynamic topologies.Providing QoS support in MANETs is hence a challenging task. Thispaper presents the design, implementation and evaluation of INORA,which is a network layer QoS support mechanism that makes use of theINSIGNIA in-band signaling mechanism and TORA routing protocol forMANETs. TORA provides multiple routes between a given source and destination.},
	number = {Number: CSHCN TR 2002-18}
}
