Collision Free Navigation of a Multi-Robot Team for Intruder Interception

In this report, we propose a decentralised motion control algorithm for the mobile robots to intercept an intruder entering (k-intercepting) or escaping (e-intercepting) a protected region. In continuation, we propose a decentralized navigation strategy (dynamic-intercepting) for a multi-robot team known as predators to intercept the intruders or in the other words, preys, from escaping a siege ring which is created by the predators. A necessary and sufficient condition for the existence of a solution of this problem is obtained. Furthermore, we propose an intelligent game-based decision-making algorithm (IGD) for a fleet of mobile robots to maximize the probability of detection in a bounded region. We prove that the proposed decentralised cooperative and non-cooperative game-based decision-making algorithm enables each robot to make the best decision to choose the shortest path with minimum local information. Then we propose a leader-follower based collision-free navigation control method for a fleet of mobile robots to traverse an unknown cluttered environment where is occupied by multiple obstacles to trap a target. We prove that each individual team member is able to traverse safely in the region, which is cluttered by many obstacles with any shapes to trap the target while using the sensors in some indefinite switching points and not continuously, which leads to saving energy consumption and increasing the battery life of the robots consequently. And finally, we propose a novel navigation strategy for a unicycle mobile robot in a cluttered area with moving obstacles based on virtual field force algorithm. The mathematical proof of the navigation laws and the computer simulations are provided to confirm the validity, robustness, and reliability of the proposed methods

Towards a cloud‑based automated surveillance system using wireless technologies

Cloud Computing can bring multiple benefits for Smart Cities. It permits the easy creation of centralized knowledge bases, thus straightforwardly enabling that multiple embedded systems (such as sensor or control devices) can have a collaborative, shared intelligence. In addition to this, thanks to its vast computing power, complex tasks can be done over low-spec devices just by offloading computation to the cloud, with the additional advantage of saving energy. In this work, cloud’s capabilities are exploited to implement and test a cloud-based surveillance system. Using a shared, 3D symbolic world model, different devices have a complete knowledge of all the elements, people and intruders in a certain open area or inside a building. The implementation of a volumetric, 3D, object-oriented, cloud-based world model (including semantic information) is novel as far as we know. Very simple devices (orange Pi) can send RGBD streams (using kinect cameras) to the cloud, where all the processing is distributed and done thanks to its inherent scalability. A proof-of-concept experiment is done in this paper in a testing lab with multiple cameras connected to the cloud with 802.11ac wireless technology. Our results show that this kind of surveillance system is possible currently, and that trends indicate that it can be improved at a short term to produce high performance vigilance system using low-speed devices. In addition, this proof-of-concept claims that many interesting opportunities and challenges arise, for example, when mobile watch robots and fixed cameras would act as a team for carrying out complex collaborative surveillance strategies.Ministerio de Economía y Competitividad TEC2016-77785-PJunta de Andalucía P12-TIC-130

On a test-bed application for the ART-WiSe framework

This report describes the development of a Test-bed Application for the ART-WiSe Framework with the aim of providing a means of access, validate and demonstrate that architecture. The chosen application is a kind of pursuit-evasion game where a remote controlled robot, navigating through an area covered by wireless sensor network (WSN), is detected and continuously tracked by the WSN. Then a centralized control station takes the appropriate actions for a pursuit robot to chase and “capture” the intruder one. This kind of application imposes stringent timing requirements to the underlying communication infrastructure. It also involves interesting research problems in WSNs like tracking, localization, cooperation between nodes, energy concerns and mobility. Additionally, it can be easily ported into a real-world application. Surveillance or search and rescue operations are two examples where this kind of functionality can be applied. This is still a first approach on the test-bed application and this development effort will be continuously pushed forward until all the envisaged objectives for the Art-WiSe architecture become accomplished

Autonomous intrusion detection information system

Abstract – Implementation of security arrangements for insecure premises, for example, for temporary exhibitions or infrequent public events, usually results in substantial security personnel costs which can be potentially reduced by employing an easily installable ad hoc intrusion detection information system. In the paper we described the architecture, design and experimental results for a fully prototyped information system that utilizes ultrasonic sensors operating in the pulse echo mode for the perimeter control and ZigBee transceivers for wireless networking. The system consists of inexpensive autonomous sensor nodes with the component cost of less than £25 and a control terminal with a graphical user interface controlled by a touch screen. The nodes are programmed wirelessly to detect intrusion within any user set distance up to the operating distance of the node, and can operate unattended for days. When you are citing the document, use the following link http://essuir.sumdu.edu.ua/handle/123456789/2877

Smart Computing and Sensing Technologies for Animal Welfare: A Systematic Review

Animals play a profoundly important and intricate role in our lives today. Dogs have been human companions for thousands of years, but they now work closely with us to assist the disabled, and in combat and search and rescue situations. Farm animals are a critical part of the global food supply chain, and there is increasing consumer interest in organically fed and humanely raised livestock, and how it impacts our health and environmental footprint. Wild animals are threatened with extinction by human induced factors, and shrinking and compromised habitat. This review sets the goal to systematically survey the existing literature in smart computing and sensing technologies for domestic, farm and wild animal welfare. We use the notion of \emph{animal welfare} in broad terms, to review the technologies for assessing whether animals are healthy, free of pain and suffering, and also positively stimulated in their environment. Also the notion of \emph{smart computing and sensing} is used in broad terms, to refer to computing and sensing systems that are not isolated but interconnected with communication networks, and capable of remote data collection, processing, exchange and analysis. We review smart technologies for domestic animals, indoor and outdoor animal farming, as well as animals in the wild and zoos. The findings of this review are expected to motivate future research and contribute to data, information and communication management as well as policy for animal welfare

Intrusion Detection Mechanism for Empowered Intruders Using IDEI

In the past, intrusion detection has been extensively investigated as a means of ensuring the security of wireless sensor networks. Anti-recon technology has made it possible for an attacker to get knowledge about the detecting nodes and plot a route around them in order to evade detection. An "empowered intruder" is one who poses new threats to current intrusion detection technologies. Furthermore, the intended impact of detection may not be obtained in certain subareas owing to gaps in coverage caused by the initial deployment of detection nodes at random. A vehicle collaboration sensing network model is proposed to solve these difficulties, in which mobile sensing cars and static sensor nodes work together to identify intrusions by empowered intruders. An algorithm for mobile sensing vehicles, called Intrusion Detection Mechanism for Empowered Intruders(IDEI), and a sleep-scheduling technique for static nodes form the basis of our proposal. Sophisticated intruders will be tracked by mobile sensors, which will fill in the gaps in coverage, while static nodes follow a sleep schedule and will be woken when the intruder is discovered close. Our solution is compared to current techniques like Kinetic Theory Based Mobile Sensor Network (KMsn)and Mean Time to Attacks (MTTA) in terms of intrusion detection performance, energy usage, and sensor node movement distance. IDEI's parameter sensitivity is also examined via comprehensive simulations. It is clear from the theoretical analysis and simulation findings that our idea is more efficient and available