A Decentralized Mobile Computing Network for Multi-Robot Systems Operations

Collective animal behaviors are paradigmatic examples of fully decentralized operations involving complex collective computations such as collective turns in flocks of birds or collective harvesting by ants. These systems offer a unique source of inspiration for the development of fault-tolerant and self-healing multi-robot systems capable of operating in dynamic environments. Specifically, swarm robotics emerged and is significantly growing on these premises. However, to date, most swarm robotics systems reported in the literature involve basic computational tasks---averages and other algebraic operations. In this paper, we introduce a novel Collective computing framework based on the swarming paradigm, which exhibits the key innate features of swarms: robustness, scalability and flexibility. Unlike Edge computing, the proposed Collective computing framework is truly decentralized and does not require user intervention or additional servers to sustain its operations. This Collective computing framework is applied to the complex task of collective mapping, in which multiple robots aim at cooperatively map a large area. Our results confirm the effectiveness of the cooperative strategy, its robustness to the loss of multiple units, as well as its scalability. Furthermore, the topology of the interconnecting network is found to greatly influence the performance of the collective action.Comment: Accepted for Publication in Proc. 9th IEEE Annual Ubiquitous Computing, Electronics & Mobile Communication Conferenc

3D Indoor Positioning in 5G networks

Over the past two decades, the challenge of accurately positioning objects or users indoors, especially in areas where Global Navigation Satellite Systems (GNSS) are not available, has been a significant focus for the research community. With the rise of 5G IoT networks, the quest for precise 3D positioning in various industries has driven researchers to explore various machine learning-based positioning techniques. Within this context, researchers are leveraging a mix of existing and emerging wireless communication technologies such as cellular, Wi-Fi, Bluetooth, Zigbee, Visible Light Communication (VLC), etc., as well as integrating any available useful data to enhance the speed and accuracy of indoor positioning. Methods for indoor positioning involve combining various parameters such as received signal strength (RSS), time of flight (TOF), time of arrival (TOA), time difference of arrival (TDOA), direction of arrival (DOA) and more. Among these, fingerprint-based positioning stands out as a popular technique in Real Time Localisation Systems (RTLS) due to its simplicity and cost-effectiveness. Positioning systems based on fingerprint maps or other relevant methods find applications in diverse scenarios, including malls for indoor navigation and geo-marketing, hospitals for monitoring patients, doctors, and critical equipment, logistics for asset tracking and optimising storage spaces, and homes for providing Ambient Assisted Living (AAL) services. A significant challenge facing all indoor positioning systems is the objective evaluation of their performance. This challenge is compounded by the coexistence of heterogeneous technologies and the rapid advancement of computation. There is a vast potential for information fusion to be explored. These observations have led to the motivation behind our work. As a result, two novel algorithms and a framework are introduced in this thesis

Embodied neuromorphic intelligence

The design of robots that interact autonomously with the environment and exhibit complex behaviours is an open challenge that can benefit from understanding what makes living beings fit to act in the world. Neuromorphic engineering studies neural computational principles to develop technologies that can provide a computing substrate for building compact and low-power processing systems. We discuss why endowing robots with neuromorphic technologies – from perception to motor control – represents a promising approach for the creation of robots which can seamlessly integrate in society. We present initial attempts in this direction, highlight open challenges, and propose actions required to overcome current limitations

Overlay virtualized wireless sensor networks for application in industrial internet of things : a review

Abstract: In recent times, Wireless Sensor Networks (WSNs) are broadly applied in the Industrial Internet of Things (IIoT) in order to enhance the productivity and efficiency of existing and prospective manufacturing industries. In particular, an area of interest that concerns the use of WSNs in IIoT is the concept of sensor network virtualization and overlay networks. Both network virtualization and overlay networks are considered contemporary because they provide the capacity to create services and applications at the edge of existing virtual networks without changing the underlying infrastructure. This capability makes both network virtualization and overlay network services highly beneficial, particularly for the dynamic needs of IIoT based applications such as in smart industry applications, smart city, and smart home applications. Consequently, the study of both WSN virtualization and overlay networks has become highly patronized in the literature, leading to the growth and maturity of the research area. In line with this growth, this paper provides a review of the development made thus far concerning virtualized sensor networks, with emphasis on the application of overlay networks in IIoT. Principally, the process of virtualization in WSN is discussed along with its importance in IIoT applications. Different challenges in WSN are also presented along with possible solutions given by the use of virtualized WSNs. Further details are also presented concerning the use of overlay networks as the next step to supporting virtualization in shared sensor networks. Our discussion closes with an exposition of the existing challenges in the use of virtualized WSN for IIoT applications. In general, because overlay networks will be contributory to the future development and advancement of smart industrial and smart city applications, this review may be considered by researchers as a reference point for those particularly interested in the study of this growing field

Range-based relative navigation for femto-spacecraft swarms

Femto-spacecraft, characterised by a total mass of under 100 g, are the smallest category of active spacecraft that are currently classified. If this technology is scaled to use many devices for distributed sensing applications, there can be unique functional benefits over traditional space systems. Determining the location of femto-spacecraft within a networked swarm would add utility for scientific investigation and enable in-orbit navigation without relying on Earthbased tracking or on-board GPS. With extremely limited space and computing power on such platforms, this thesis proposes methods for relative navigation enabled by range estimates obtained via networking. This is experimentally demonstrated using received signal strength indication (RSSI) data as a coarse range metric within a highly interconnected network of devices. The first part of this thesis is the development of a series of range-based relative positioning algorithms intended for centralised, decentralised, and distributed computation. These are tested in simulation by modelling varying levels of inaccuracy in the range estimates provided. Relative navigation techniques are then presented, modelling the scenario of a swarm of femtospacecraft deployed into low Earth orbit from a larger carrier spacecraft. Several ejection strategies are proposed using a model of the relative dynamics to propagate trajectories. These scenarios are simulated for real-time relative navigation using Kalman filtering techniques that use the relative positioning algorithms as partial linear state observers. A network communications protocol enabling full interconnection within the swarm is then developed for experimental testing of these navigation strategies. Small development kits are used as femto-spacecraft proxies for embedded software development. Following this, a path loss model is experimentally developed to characterise the relationship between RSSI and range in an outdoor testing environment over a length-scale of 1-150 m. This model is then used to convert RSSI data into range estimates, used as inputs to the relative positioning algorithms. Relative navigation is demonstrated on an outdoor 120 m × 60 m sports pitch. This demonstration highlights the ability of the algorithms to fuse coarse proximity data and localise without any additional sensors or equipment Finally, the application of distributed in-situ sensing is analysed in simulation to investigate the trade-offs of using a larger number of devices of lower positioning accuracy and sensor measurement accuracy, as a comparison between the use of femto-spacecraft swarms and traditional space systems

Security and the smart city: A systematic review

The implementation of smart technology in cities is often hailed as the solution to many urban challenges such as transportation, waste management, and environmental protection. Issues of security and crime prevention, however, are in many cases neglected. Moreover, when researchers do introduce new smart security technologies, they rarely discuss their implementation or question how new smart city security might affect traditional policing and urban planning processes. This systematic review explores the recent literature concerned with new ‘smart city’ security technologies and aims to investigate to what extent these new interventions correspond with traditional functions of security interventions. Through an extensive literature search we compiled a list of security interventions for smart cities and suggest several changes to the conceptual status quo in the field. Ultimately, we propose three clear categories to categorise security interventions in smart cities: Those interventions that use new sensors but traditional actuators, those that seek to make old systems smart, and those that introduce entirely new functions. These themes are then discussed in detail and the importance of each group of interventions for the overall field of urban security and governance is assessed