3,823 research outputs found
Decentralized 3D Collision Avoidance for Multiple UAVs in Outdoor Environments
The use of multiple aerial vehicles for autonomous missions is turning into commonplace. In many of these applications, the Unmanned Aerial Vehicles (UAVs) have to cooperate and navigate in a shared airspace, becoming 3D collision avoidance a relevant issue. Outdoor scenarios impose additional challenges: (i) accurate positioning systems are costly; (ii) communication can be unreliable or delayed; and (iii) external conditions like wind gusts affect UAVs’ maneuverability. In this paper, we present 3D-SWAP, a decentralized algorithm for 3D collision avoidance with multiple
UAVs. 3D-SWAP operates reactively without high computational requirements and allows UAVs to integrate measurements from their local sensors with positions of other teammates within communication range. We tested 3D-SWAP with our team of custom-designed UAVs. First, we used a Software-In-The-Loop simulator for system integration and evaluation. Second, we run field experiments with up to three UAVs in an outdoor scenario with uncontrolled conditions (i.e., noisy positioning systems, wind gusts, etc). We report our results and our procedures for this field experimentation.European Union’s Horizon 2020 research and innovation programme No 731667 (MULTIDRONE
Complexity challenges in ATM
After more than 4 years of activity, the ComplexWorld Network, together with the projects and PhDs covered under the SESAR long-term research umbrella, have developed sound research material contributing to progress beyond the state
of the art in fields such as resilience, uncertainty, multi-agent systems, metrics and data science. The achievements made by the ComplexWorld stakeholders have also led to the identification of new challenges that need to be addressed in the future. In order to pave the way for complexity science research in Air Traffic Management (ATM) in the coming years, ComplexWorld requested external assessments on how the challenges have been covered and where there are existing gaps. For that purpose, ComplexWorld, with the support of EUROCONTROL, established an expert panel to review selected documentation developed by the network and provide their assessment on their topic of expertise
Contributions on using embedded memory circuits as physically unclonable functions considering reliability issues
[eng] Moving towards Internet-of-Things (IoT) era, hardware security becomes a crucial
research topic, because of the growing demand of electronic products that are remotely
connected through networks. Novel hardware security primitives based on
manufacturing process variability are proposed to enhance the security of the IoT
systems. As a trusted root that provides physical randomness, a physically unclonable
function is an essential base for hardware security.
SRAM devices are becoming one of the most promising alternatives for the
implementation of embedded physical unclonable functions as the start-up value of
each bit-cell depends largely on the variability related with the manufacturing process.
Not all bit-cells experience the same degree of variability, so it is possible that some cells
randomly modify their logical starting value, while others will start-up always at the
same value. However, physically unclonable function applications, such as identification
and key generation, require more constant logical starting value to assure high reliability
in PUF response. For this reason, some kind of post-processing is needed to correct the
errors in the PUF response.
Unfortunately, those cells that have more constant logic output are difficult to be
detected in advance. This work characterizes by simulation the start-up value
reproducibility proposing several metrics suitable for reliability estimation during design
phases. The aim is to be able to predict by simulation the percentage of cells that will be
suitable to be used as PUF generators. We evaluate the metrics results and analyze the
start-up values reproducibility considering different external perturbation sources like several power supply ramp up times, previous internal values in the bit-cell, and
different temperature scenarios. The characterization metrics can be exploited to
estimate the number of suitable SRAM cells for use in PUF implementations that can be
expected from a specific SRAM design.[cat] En l’era de la Internet de les coses (IoT), garantir la seguretat del hardware ha
esdevingut un tema de recerca crucial, en especial a causa de la creixent demanda de
productes electrònics que es connecten remotament a través de xarxes. Per millorar la
seguretat dels sistemes IoT, s’han proposat noves solucions hardware basades en la
variabilitat dels processos de fabricació. Les funcions físicament inclonables (PUF)
constitueixen una font fiable d’aleatorietat física i són una base essencial per a la
seguretat hardware.
Les memòries SRAM s’estan convertint en una de les alternatives més prometedores per
a la implementació de funcions físicament inclonables encastades. Això és així ja que el
valor d’encesa de cada una de les cel·les que formen els bits de la memòria depèn en
gran mesura de la variabilitat pròpia del procés de fabricació. No tots els bits tenen el
mateix grau de variabilitat, així que algunes cel·les canvien el seu estat lògic d’encesa de
forma aleatòria entre enceses, mentre que d’altres sempre assoleixen el mateix valor
en totes les enceses. No obstant això, les funcions físicament inclonables, que s’utilitzen
per generar claus d’identificació, requereixen un valor lògic d’encesa constant per tal
d’assegurar una resposta fiable del PUF. Per aquest motiu, normalment es necessita
algun tipus de postprocessament per corregir els possibles errors presents en la resposta
del PUF. Malauradament, les cel·les que presenten una resposta més constant són
difícils de detectar a priori.
Aquest treball caracteritza per simulació la reproductibilitat del valor d’encesa de cel·les
SRAM, i proposa diverses mètriques per estimar la fiabilitat de les cel·les durant les fases de disseny de la memòria. L'objectiu és ser capaç de predir per simulació el percentatge
de cel·les que seran adequades per ser utilitzades com PUF. S’avaluen els resultats de
diverses mètriques i s’analitza la reproductibilitat dels valors d’encesa de les cel·les
considerant diverses fonts de pertorbacions externes, com diferents rampes de tensió
per a l’encesa, els valors interns emmagatzemats prèviament en les cel·les, i diferents
temperatures. Es proposa utilitzar aquestes mètriques per estimar el nombre de cel·les
SRAM adients per ser implementades com a PUF en un disseny d‘SRAM específic.[spa] En la era de la Internet de las cosas (IoT), garantizar la seguridad del hardware se ha
convertido en un tema de investigación crucial, en especial a causa de la creciente
demanda de productos electrónicos que se conectan remotamente a través de redes.
Para mejorar la seguridad de los sistemas IoT, se han propuesto nuevas soluciones
hardware basadas en la variabilidad de los procesos de fabricación. Las funciones
físicamente inclonables (PUF) constituyen una fuente fiable de aleatoriedad física y son
una base esencial para la seguridad hardware.
Las memorias SRAM se están convirtiendo en una de las alternativas más prometedoras
para la implementación de funciones físicamente inclonables empotradas. Esto es así,
puesto que el valor de encendido de cada una de las celdas que forman los bits de la
memoria depende en gran medida de la variabilidad propia del proceso de fabricación.
No todos los bits tienen el mismo grado de variabilidad. Así pues, algunas celdas cambian
su estado lógico de encendido de forma aleatoria entre encendidos, mientras que otras
siempre adquieren el mismo valor en todos los encendidos. Sin embargo, las funciones
físicamente inclonables, que se utilizan para generar claves de identificación, requieren
un valor lógico de encendido constante para asegurar una respuesta fiable del PUF. Por
este motivo, normalmente se necesita algún tipo de posprocesado para corregir los
posibles errores presentes en la respuesta del PUF. Desafortunadamente, las celdas que
presentan una respuesta más constante son difíciles de detectar a priori.
Este trabajo caracteriza por simulación la reproductibilidad del valor de encendido de
celdas SRAM, y propone varias métricas para estimar la fiabilidad de las celdas durante las fases de diseño de la memoria. El objetivo es ser capaz de predecir por simulación el
porcentaje de celdas que serán adecuadas para ser utilizadas como PUF. Se evalúan los
resultados de varias métricas y se analiza la reproductibilidad de los valores de
encendido de las celdas considerando varias fuentes de perturbaciones externas, como
diferentes rampas de tensión para el encendido, los valores internos almacenados
previamente en las celdas, y diferentes temperaturas. Se propone utilizar estas métricas
para estimar el número de celdas SRAM adecuadas para ser implementadas como PUF
en un diseño de SRAM específico
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
ComplexWorld Position Paper
The Complex ATM Position Paper is the common research vehicle that defines the high-level, strategic scientific vision for the ComplexWorld Network. The purpose of this document is to provide an orderly and consistent scientific framework for the WP-E complexity theme. The specific objectives of the position paper are to:
- analyse the state of the art within the different research areas relevant to the network, identifying the major accomplishments and providing a comprehensive set of references, including the main publications and research projects;
- include a complete list of , a list of application topics, and an analysis of which techniques are best suited to each one of those applications;
- identify and perform an in-depth analysis of the most promising research avenues and the major research challenges lying at the junction of ATM and complex systems domains, with particular attention to their impact and potential benefits for the ATM community;
- identify areas of common interest and synergies with other SESAR activities, with special attention to the research topics covered by other WP-E networks.
An additional goal for future versions of this position paper is to develop an indicative roadmap on how these research challenges should be accomplished, providing a guide on how to leverage on different aspects of the complexity research in Air Transport
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