GUARDIANS final report

Emergencies in industrial warehouses are a major concern for firefghters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this report we discuss the technology developed for a swarm of robots searching and assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also one of the means to locate the robots and humans. Thus the robot swarm is able to locate itself and provide guidance information to the humans. Together with the re ghters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms

The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications

NS-2 based simulation framework for cognitive radio sensor networks

In this paper, we propose a simulation model for cognitive radio sensor networks (CRSNs) which is an attempt to combine the useful properties of wireless sensor networks and cognitive radio networks. The existing simulation models for cognitive radios cannot be extended for this purpose as they do not consider the strict energy constraint in wireless sensor networks. Our proposed model considers the limited energy available for wireless sensor nodes that constrain the spectrum sensing process—an unavoidable operation in cognitive radios. Our model has been thoroughly tested by performing experiments in different scenarios of CRSNs. The results generated by the model have been found accurate which can be considered for realization of CRSNs

Characterization of spectrum activities in the U.S. public safety band for opportunistic spectrum access

Abstract — Dual site spectrum measurements have been made in the public safety band in Howard County, Maryland, USA. The public safety band is of interest because of its obvious importance and the increasing need to determine whether improved spectral utilization would accommodate increased usage for public safety. Two receiver suites were synchronized and used to measure concurrent spectra at separation between a few meters up to a few kilometers. These measurements prove useful in examining issues of spectrum sensing for dynamic spectrum access, including receiver sensitivity, primary user signal detection, adjacent channel interference, and policy performance with local and cooperative sensing. We analyze the collected data to characterize the usage of this public safety network and provide insights into how white space can be identified and utilized. We propose a class of opportunistic access strategies and demonstrate how collected data can be used to evaluate the performance of such schemes. Index Terms—dynamic spectrum access, public safety band, spectrum measurement, spectrum policy, and spectrum data analysis I

Application of reinforcement learning for security enhancement in cognitive radio networks

Cognitive radio network (CRN) enables unlicensed users (or secondary users, SUs) to sense for and opportunistically operate in underutilized licensed channels, which are owned by the licensed users (or primary users, PUs). Cognitive radio network (CRN) has been regarded as the next-generation wireless network centered on the application of artificial intelligence, which helps the SUs to learn about, as well as to adaptively and dynamically reconfigure its operating parameters, including the sensing and transmission channels, for network performance enhancement. This motivates the use of artificial intelligence to enhance security schemes for CRNs. Provisioning security in CRNs is challenging since existing techniques, such as entity authentication, are not feasible in the dynamic environment that CRN presents since they require pre-registration. In addition these techniques cannot prevent an authenticated node from acting maliciously. In this article, we advocate the use of reinforcement learning (RL) to achieve optimal or near-optimal solutions for security enhancement through the detection of various malicious nodes and their attacks in CRNs. RL, which is an artificial intelligence technique, has the ability to learn new attacks and to detect previously learned ones. RL has been perceived as a promising approach to enhance the overall security aspect of CRNs. RL, which has been applied to address the dynamic aspect of security schemes in other wireless networks, such as wireless sensor networks and wireless mesh networks can be leveraged to design security schemes in CRNs. We believe that these RL solutions will complement and enhance existing security solutions applied to CRN To the best of our knowledge, this is the first survey article that focuses on the use of RL-based techniques for security enhancement in CRNs