Towards Optimally Decentralized Multi-Robot Collision Avoidance via Deep Reinforcement Learning

Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed multi-robot collision avoidance systems exist, they often require extracting agent-level features to plan a local collision-free action, which can be computationally prohibitive and not robust. More importantly, in practice the performance of these methods are much lower than their centralized counterparts. We present a decentralized sensor-level collision avoidance policy for multi-robot systems, which directly maps raw sensor measurements to an agent's steering commands in terms of movement velocity. As a first step toward reducing the performance gap between decentralized and centralized methods, we present a multi-scenario multi-stage training framework to find an optimal policy which is trained over a large number of robots on rich, complex environments simultaneously using a policy gradient based reinforcement learning algorithm. We validate the learned sensor-level collision avoidance policy in a variety of simulated scenarios with thorough performance evaluations and show that the final learned policy is able to find time efficient, collision-free paths for a large-scale robot system. We also demonstrate that the learned policy can be well generalized to new scenarios that do not appear in the entire training period, including navigating a heterogeneous group of robots and a large-scale scenario with 100 robots. Videos are available at https://sites.google.com/view/drlmac

A Persistent Simulation Environment for Autonomous Systems

The age of Autonomous Unmanned Aircraft Systems (AUAS) is creating new challenges for the accreditation and certification requiring new standards, policies and procedures that sanction whether a UAS is safe to fly. Establishing a basis for certification of autonomous systems via research into trust and trustworthiness is the focus of Autonomy Teaming and TRAjectories for Complex Trusted Operational Reliability (ATTRACTOR), a new NASA Convergent Aeronautics Solution (CAS) project. Simulation Environments to test and evaluate AUAS decision making may be a low-cost solution to help certify that various AUAS systems are trustworthy enough to be allowed to fly in current general and commercial aviation airspace. NASA is working to build a peer-to-peer persistent simulation (P3 Sim) environment. The P3 Sim will be a Massively Multiplayer Online (MMO) environment were AUAS avatars can interact with a complex dynamic environment and each other. The focus of the effort is to provide AUAS researchers a low-cost intuitive testing environment that will aid training for and assessment of decisions made by autonomous systems such as AUAS. This presentation focuses on the design approach and challenges faced in development of the P3 Sim Environment is support of investigating trustworthiness of autonomous systems

Service Level Agreement-based GDPR Compliance and Security assurance in (multi)Cloud-based systems

Compliance with the new European General Data Protection Regulation (Regulation (EU) 2016/679) and security assurance are currently two major challenges of Cloud-based systems. GDPR compliance implies both privacy and security mechanisms definition, enforcement and control, including evidence collection. This paper presents a novel DevOps framework aimed at supporting Cloud consumers in designing, deploying and operating (multi)Cloud systems that include the necessary privacy and security controls for ensuring transparency to end-users, third parties in service provision (if any) and law enforcement authorities. The framework relies on the risk-driven specification at design time of privacy and security level objectives in the system Service Level Agreement (SLA) and in their continuous monitoring and enforcement at runtime.The research leading to these results has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 644429 and No 780351, MUSA project and ENACT project, respectively. We would also like to acknowledge all the members of the MUSA Consortium and ENACT Consortium for their valuable help

Management and Service-aware Networking Architectures (MANA) for Future Internet Position Paper: System Functions, Capabilities and Requirements

Future Internet (FI) research and development threads have recently been gaining momentum all over the world and as such the international race to create a new generation Internet is in full swing: GENI, Asia Future Internet, Future Internet Forum Korea, European Union Future Internet Assembly (FIA). This is a position paper identifying the research orientation with a time horizon of 10 years, together with the key challenges for the capabilities in the Management and Service-aware Networking Architectures (MANA) part of the Future Internet (FI) allowing for parallel and federated Internet(s)

An Analysis of Service Ontologies

Services are increasingly shaping the world’s economic activity. Service provision and consumption have been profiting from advances in ICT, but the decentralization and heterogeneity of the involved service entities still pose engineering challenges. One of these challenges is to achieve semantic interoperability among these autonomous entities. Semantic web technology aims at addressing this challenge on a large scale, and has matured over the last years. This is evident from the various efforts reported in the literature in which service knowledge is represented in terms of ontologies developed either in individual research projects or in standardization bodies. This paper aims at analyzing the most relevant service ontologies available today for their suitability to cope with the service semantic interoperability challenge. We take the vision of the Internet of Services (IoS) as our motivation to identify the requirements for service ontologies. We adopt a formal approach to ontology design and evaluation in our analysis. We start by defining informal competency questions derived from a motivating scenario, and we identify relevant concepts and properties in service ontologies that match the formal ontological representation of these questions. We analyze the service ontologies with our concepts and questions, so that each ontology is positioned and evaluated according to its utility. The gaps we identify as the result of our analysis provide an indication of open challenges and future work

Attack-Surface Metrics, OSSTMM and Common Criteria Based Approach to “Composable Security” in Complex Systems

In recent studies on Complex Systems and Systems-of-Systems theory, a huge effort has been put to cope with behavioral problems, i.e. the possibility of controlling a desired overall or end-to-end behavior by acting on the individual elements that constitute the system itself. This problem is particularly important in the “SMART” environments, where the huge number of devices, their significant computational capabilities as well as their tight interconnection produce a complex architecture for which it is difficult to predict (and control) a desired behavior; furthermore, if the scenario is allowed to dynamically evolve through the modification of both topology and subsystems composition, then the control problem becomes a real challenge. In this perspective, the purpose of this paper is to cope with a specific class of control problems in complex systems, the “composability of security functionalities”, recently introduced by the European Funded research through the pSHIELD and nSHIELD projects (ARTEMIS-JU programme). In a nutshell, the objective of this research is to define a control framework that, given a target security level for a specific application scenario, is able to i) discover the system elements, ii) quantify the security level of each element as well as its contribution to the security of the overall system, and iii) compute the control action to be applied on such elements to reach the security target. The main innovations proposed by the authors are: i) the definition of a comprehensive methodology to quantify the security of a generic system independently from the technology and the environment and ii) the integration of the derived metrics into a closed-loop scheme that allows real-time control of the system. The solution described in this work moves from the proof-of-concepts performed in the early phase of the pSHIELD research and enrich es it through an innovative metric with a sound foundation, able to potentially cope with any kind of pplication scenarios (railways, automotive, manufacturing, ...)