Autonomous reconnaissance mission: development of an algorithm for collaborative multi robot communication

A collaborative team of two resource constrained semi-autonomous hexapod robots have been developed that perform navigation tasks while satisfying communication constraints. Our approach is based on the use of a control structure where each hexapod performs elementary tasks, a behavior-based controller generates motion directives to achieve the collaborative tasks, and controller generates the actuator commands to follow the motion directives. The control technique has been developed for a mission where a target location spread across a static environment has to be visited once by the two hexapods while maintaining a relative given distance with wireless communication. Wireless communication under mobile ad-hoc networks are communication networks that do not rely on fixed, preinstalled communication devices like base stations or predefined communication cells. This wireless networks consist of mobile nodes which are characterized by their decentralized organization and the potentially high dynamics of the network structure, therefore ad-hoc network communication system has been the focus in this multi-robot communication. The ad-hoc network has to provide position data to support localization of the mobile robots, which might be of great importance to guide the robots to specific targets and locations. Communications standards considered for the ad-hoc network are Wireless LAN, Bluetooth and ZigBee. In this project Bluetooth and ZigBee are integrated on robots for real experiments

A Cooperative Emergency Navigation Framework using Mobile Cloud Computing

The use of wireless sensor networks (WSNs) for emergency navigation systems suffer disadvantages such as limited computing capacity, restricted battery power and high likelihood of malfunction due to the harsh physical environment. By making use of the powerful sensing ability of smart phones, this paper presents a cloud-enabled emergency navigation framework to guide evacuees in a coordinated manner and improve the reliability and resilience in both communication and localization. By using social potential fields (SPF), evacuees form clusters during an evacuation process and are directed to egresses with the aid of a Cognitive Packet Networks (CPN) based algorithm. Rather than just rely on the conventional telecommunications infrastructures, we suggest an Ad hoc Cognitive Packet Network (AHCPN) based protocol to prolong the life time of smart phones, that adaptively searches optimal communication routes between portable devices and the egress node that provides access to a cloud server with respect to the remaining battery power of smart phones and the time latency.Comment: This document contains 8 pages and 3 figures and has been accepted by ISCIS 2014 (29th International Symposium on Computer and Information Sciences

Passive security threats and consequences in IEEE 802.11 wireless mesh networks

The Wireless Mesh Network (WMN) is ubiquitous emerging broadband wireless network. However, the open wireless medium, multi-hop multi-radio architecture and ad-hoc connectivity amongst end-users are such characteristics which increases the vulnerabilities of WMN towards many passive and active attacks. A secure network ensures the confidentiality, integrity and availability of wireless network. Integrity and availability is compromised by active attacks, while the confidentiality of end-users traffic is compromised by passive attacks. Passive attacks are silent in nature and do not harm the network traffic or normal network operations, therefore very difficult to detect. However, passive attacks lay down a foundation for later launching an active attack. In this article, we discuss the vulnerable features and possible passive threats in WMN along with current security mechanisms as well as future research directions. This article will serve as a baseline guide for the passive security threats and related issues in WMNs

The Opportunistic Transmission of Wireless Worms between Mobile Devices

The ubiquity of portable wireless-enabled computing and communications devices has stimulated the emergence of malicious codes (wireless worms) that are capable of spreading between spatially proximal devices. The potential exists for worms to be opportunistically transmitted between devices as they move around, so human mobility patterns will have an impact on epidemic spread. The scenario we address in this paper is proximity attacks from fleetingly in-contact wireless devices with short-range communication range, such as Bluetooth-enabled smart phones. An individual-based model of mobile devices is introduced and the effect of population characteristics and device behaviour on the outbreak dynamics is investigated. We show through extensive simulations that in the above scenario the resulting mass-action epidemic models remain applicable provided the contact rate is derived consistently from the underlying mobility model. The model gives useful analytical expressions against which more refined simulations of worm spread can be developed and tested.Comment: Submitted for publicatio