Dynamic Motion Modelling for Legged Robots

An accurate motion model is an important component in modern-day robotic systems, but building such a model for a complex system often requires an appreciable amount of manual effort. In this paper we present a motion model representation, the Dynamic Gaussian Mixture Model (DGMM), that alleviates the need to manually design the form of a motion model, and provides a direct means of incorporating auxiliary sensory data into the model. This representation and its accompanying algorithms are validated experimentally using an 8-legged kinematically complex robot, as well as a standard benchmark dataset. The presented method not only learns the robot's motion model, but also improves the model's accuracy by incorporating information about the terrain surrounding the robot

Look No Further: Adapting the Localization Sensory Window to the Temporal Characteristics of the Environment

Many localization algorithms use a spatiotemporal window of sensory information in order to recognize spatial locations, and the length of this window is often a sensitive parameter that must be tuned to the specifics of the application. This letter presents a general method for environment-driven variation of the length of the spatiotemporal window based on searching for the most significant localization hypothesis, to use as much context as is appropriate but not more. We evaluate this approach on benchmark datasets using visual and Wi-Fi sensor modalities and a variety of sensory comparison front-ends under in-order and out-of-order traversals of the environment. Our results show that the system greatly reduces the maximum distance traveled without localization compared to a fixed-length approach while achieving competitive localization accuracy, and our proposed method achieves this performance without deployment-time tuning.Comment: Pre-print of article appearing in 2017 IEEE Robotics and Automation Letters. v2: incorporated reviewer feedbac

Transfer Learning for Device Fingerprinting with Application to Cognitive Radio Networks

Primary user emulation (PUE) attacks are an emerging threat to cognitive radio (CR) networks in which malicious users imitate the primary users (PUs) signals to limit the access of secondary users (SUs). Ascertaining the identity of the devices is a key technical challenge that must be overcome to thwart the threat of PUE attacks. Typically, detection of PUE attacks is done by inspecting the signals coming from all the devices in the system, and then using these signals to form unique fingerprints for each device. Current detection and fingerprinting approaches require certain conditions to hold in order to effectively detect attackers. Such conditions include the need for a sufficient amount of fingerprint data for users or the existence of both the attacker and the victim PU within the same time frame. These conditions are necessary because current methods lack the ability to learn the behavior of both SUs and PUs with time. In this paper, a novel transfer learning (TL) approach is proposed, in which abstract knowledge about PUs and SUs is transferred from past time frames to improve the detection process at future time frames. The proposed approach extracts a high level representation for the environment at every time frame. This high level information is accumulated to form an abstract knowledge database. The CR system then utilizes this database to accurately detect PUE attacks even if an insufficient amount of fingerprint data is available at the current time frame. The dynamic structure of the proposed approach uses the final detection decisions to update the abstract knowledge database for future runs. Simulation results show that the proposed method can improve the performance with an average of 3.5% for only 10% relevant information between the past knowledge and the current environment signals.Comment: 6 pages, 3 figures, in Proceedings of IEEE 26th International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC), Hong Kong, P.R. China, Aug. 201