A Top-Down Approach to Managing Variability in Robotics Algorithms

One of the defining features of the field of robotics is its breadth and heterogeneity. Unfortunately, despite the availability of several robotics middleware services, robotics software still fails to smoothly handle at least two kinds of variability: algorithmic variability and lower-level variability. The consequence is that implementations of algorithms are hard to understand and impacted by changes to lower-level details such as the choice or configuration of sensors or actuators. Moreover, when several algorithms or algorithmic variants are available it is difficult to compare and combine them. In order to alleviate these problems we propose a top-down approach to express and implement robotics algorithms and families of algorithms so that they are both less dependent on lower-level details and easier to understand and combine. This approach goes top-down from the algorithms and shields them from lower-level details by introducing very high level abstractions atop the intermediate abstractions of robotics middleware. This approach is illustrated on 7 variants of the Bug family that were implemented using both laser and infra-red sensors.Comment: 6 pages, 5 figures, Presented at DSLRob 2013 (arXiv:cs/1312.5952

An emergent wall following behaviour to escape local minima for swarms of agents

Natural examples of emergent behaviour, in groups due to interactions among the group's individuals, are numerous. Our aim, in this paper, is to use complex emergent behaviour among agents that interact via pair-wise attractive and repulsive potentials, to solve the local minima problem in the artificial potential based navigation method. We present a modified potential field based path planning algorithm, which uses agent internal states and swarm emergent behaviour to enhance group performance. The algorithm is used successfully to solve a reactive path-planning problem that cannot be solved using conventional static potential fields due to local minima formation. Simulation results demonstrate the ability of a swarm of agents to perform problem solving using the dynamic internal states of the agents along with emergent behaviour of the entire group

TrusNet: Peer-to-Peer Cryptographic Authentication

Originally, the Internet was meant as a general purpose communication protocol, transferring primarily text documents between interested parties. Over time, documents expanded to include pictures, videos and even web pages. Increasingly, the Internet is being used to transfer a new kind of data which it was never designed for. In most ways, this new data type fits in naturally to the Internet, taking advantage of the near limit-less expanse of the protocol. Hardware protocols, unlike previous data types, provide a unique set security problem. Much like financial data, hardware protocols extended across the Internet must be protected with authentication. Currently, systems which do authenticate do so through a central server, utilizing a similar authentication model to the HTTPS protocol. This hierarchical model is often at odds with the needs of hardware protocols, particularly in ad-hoc networks where peer-to-peer communication is prioritized over a hierarchical model. Our project attempts to implement a peer-to-peer cryptographic authentication protocol to be used to protect hardware protocols extending over the Internet. The TrusNet project uses public-key cryptography to authenticate nodes on a distributed network, with each node locally managing a record of the public keys of nodes which it has encountered. These keys are used to secure data transmission between nodes and to authenticate the identities of nodes. TrusNet is designed to be used on multiple different types of network interfaces, but currently only has explicit hooks for Internet Protocol connections. As of June 2016, TrusNet has successfully achieved a basic authentication and communication protocol on Windows 7, OSX, Linux 14 and the Intel Edison. TrusNet uses RC-4 as its stream cipher and RSA as its public-key algorithm, although both of these are easily configurable. Along with the library, TrusNet also enables the building of a unit testing suite, a simple UI application designed to visualize the basics of the system and a build with hooks into the I/O pins of the Intel Edison allowing for a basic demonstration of the system