Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Dynamic Median Consensus for Marine Multi-Robot Systems Using Acoustic
  Communication   In this paper, we present a dynamic median consensus protocol for multi-agent
systems using acoustic communication. The motivating target scenario is a
multi-agent system consisting of underwater robots acting as intelligent
sensors, applied to continuous monitoring of the state of a marine environment.
The proposed protocol allows each agent to track the median value of individual
measurements of all agents through local communication with neighbouring
agents. Median is chosen as a measure robust to outliers, as opposed to average
value, which is usually used. In contrast to the existing consensus protocols,
the proposed protocol is dynamic, uses a switching communication topology and
converges to median of measured signals. Stability and correctness of the
protocol are theoretically proven. The protocol is tested in simulation, and
accuracy and influence of protocol parameters on the system output are
analyzed. The protocol is implemented and validated by a set of experiments on
an underwater group of robots comprising of aMussel units. This experimental
setup is one of the first deployments of any type of consensus protocol for an
underwater setting. Both simulation and experimental results confirm the
correctness of the presented approach.

37
The categories of this paper are: supr-con
9
The categories of this paper are: nlin
15
The categories of this paper are: nucl-ex
25
The categories of this paper are: patt-sol
23
The categories of this paper are: solv-int
10
The categories of this paper are: q-bio
22
The categories of this paper are: chao-dyn
27
The categories of this paper are: comp-gas
29
The categories of this paper are: funct-an
5
The categories of this paper are: gr-qc
21
The categories of this paper are: adap-org
33
The categories of this paper are: plasm-ph
26
The categories of this paper are: bayes-an
12
The categories of this paper are: nucl-th
28
The categories of this paper are: alg-geom
30
The categories of this paper are: q-alg