3D multi-robot patrolling with a two-level coordination strategy

Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling process. This work presents a distributed multi-robot patrolling technique, which uses a two-level coordination strategy to minimize and explicitly manage the occurrence of conflicts and interference. The first level guides the agents to single out exclusive target nodes on a topological map. This target selection relies on a shared idleness representation and a coordination mechanism preventing topological conflicts. The second level hosts coordination strategies based on a metric representation of space and is supported by a 3D SLAM system. Here, each robot path planner negotiates spatial conflicts by applying a multi-robot traversability function. Continuous interactions between these two levels ensure coordination and conflicts resolution. Both simulations and real-world experiments are presented to validate the performances of the proposed patrolling strategy in 3D environments. Results show this is a promising solution for managing spatial conflicts and preventing deadlocks

CPC: Crime, Policing and Citizenship - Intelligent Policing and Big Data

Crime, Policing and Citizenship (CPC) – Space-Time Interactions of Dynamic Networks has been a major UK EPSRC-funded research project. It has been a multidisciplinary collaboration of geoinformatics, crime science, computer science and geography within University College London (UCL), in partnership with the Metropolitan Police Service (MPS). The aim of the project has been to develop new methods and applications in space-time analytics and emergent network complexity, in order to uncover patterning and interactions in crime, policing and citizen perceptions. The work carried out throughout the project will help inform policing at a range of scales, from the local to the city-wide, with the goal of reducing both crime and the fear of crime. The CPC project is timely given the tremendous challenging facing policing in big cities nationally and globally, as consequences of changes in society, population structure and economic well-being. It addresses these issues through an intelligent approach to data-driven policing, using daily reported crime statistics, GPS traces of foot and vehicular patrols, surveys of public attitudes and geo-temporal demographic data of changing community structure. The analytic focus takes a spatio-temporal perspective, reflecting the strong spatial and temporal integration of criminal, policing and citizen activities. Street networks are used throughout as a basis for analysis, reflecting their role as a key determinant of urban structure and the substrate on which crime and policing take place. The project has presented a manifesto for ‘intelligent policing’ which embodies the key issues arising in the transition from Big Data into actionable insights. Police intelligence should go beyond current practice, incorporating not only the prediction of events, but also how to respond to them, and how to evaluate the actions taken. Cutting-edge network-based crime prediction methods have been developed to accurately predict crime risks at street segment level, helping police forces to focus resources in the right places at the right times. Methods and tools have been implemented to support senior offices in strategic planning, and to provide guidance to frontline officers in daily patrolling. To evaluate police performance, models and tools have been developed to aid identification of areas requiring greater attention, and to analyse the patrolling behaviours of officers. Methods to understand and model confidence in policing have also been explored, suggesting strategies by which confidence in the police can be improved in different population segments and neighbourhood areas. A number of tools have been developed during the course of the project include data-driven methods for crime prediction and for performance evaluation. We anticipate that these will ultimately be adopted in daily policing practice and will play an important role in the modernisation of policing. Furthermore, we believe that the approaches to the building of public trust and confidence that we suggest will contribute to the transformation and improvement of the relationship between the public and police

INTEROPERABILITY FOR MODELING AND SIMULATION IN MARITIME EXTENDED FRAMEWORK

This thesis reports on the most relevant researches performed during the years of the Ph.D. at the Genova University and within the Simulation Team. The researches have been performed according to M&S well known recognized standards. The studies performed on interoperable simulation cover all the environments of the Extended Maritime Framework, namely Sea Surface, Underwater, Air, Coast & Land, Space and Cyber Space. The applications cover both the civil and defence domain. The aim is to demonstrate the potential of M&S applications for the Extended Maritime Framework, applied to innovative unmanned vehicles as well as to traditional assets, human personnel included. A variety of techniques and methodology have been fruitfully applied in the researches, ranging from interoperable simulation, discrete event simulation, stochastic simulation, artificial intelligence, decision support system and even human behaviour modelling

Safe navigation and human-robot interaction in assistant robotic applications

L'abstract è presente nell'allegato / the abstract is in the attachmen

Specification Patterns for Robotic Missions

Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need, a large number of domain-specific specification languages has been proposed. These, in addition to traditional logical languages, allow the use of formally specified missions for synthesis, verification, simulation, or guiding the implementation. For instance, the logical language LTL is commonly used by experts to specify missions, as an input for planners, which synthesize the behavior a robot should have. Unfortunately, domain-specific languages are usually tied to specific robot models, while logical languages such as LTL are difficult to use by non-experts. We present a catalog of 22 mission specification patterns for mobile robots, together with tooling for instantiating, composing, and compiling the patterns to create mission specifications. The patterns provide solutions for recurrent specification problems, each of which detailing the usage intent, known uses, relationships to other patterns, and---most importantly---a template mission specification in temporal logic. Our tooling produces specifications expressed in the LTL and CTL temporal logics to be used by planners, simulators, or model checkers. The patterns originate from 245 realistic textual mission requirements extracted from the robotics literature, and they are evaluated upon a total of 441 real-world mission requirements and 1251 mission specifications. Five of these reflect scenarios we defined with two well-known industrial partners developing human-size robots. We validated our patterns' correctness with simulators and two real robots

Crime, policing and social order: on the expressive nature of public confidence in policing

Public confidence in policing is receiving increasing attention from UK social scientists and policy-makers. The criminal justice system relies on legitimacy and consent to an extent unlike other public services: public support is vital if the police and other criminal justice agencies are to function both effectively and in accordance with democratic norms. Yet we know little about the forms of social perception that stand prior to public confidence and police legitimacy. Drawing on data from the 2003/2004 British Crime Survey and the 2006/2007 London Metropolitan Police Safer Neighbourhoods Survey, this paper suggests that people think about their local police in ways less to do with the risk of victimization (instrumental concerns about personal safety) and more to do with judgments of social cohesion and moral consensus (expressive concerns about neighbourhood stability, cohesion and loss of collective authority). Across England and Wales the police may not primarily be seen as providers of a narrow sense of personal security, held responsible for crime and safety. Instead the police may stand as symbolic 'moral guardians' of social stability and order, held responsible for community values and informal social controls. We also present evidence that public confidence in the London Metropolitan Police Service expresses broader social anxieties about long-term social change. We finish our paper with some thoughts on a sociological analysis of the cultural place of policing: confidence (and perhaps ultimately the legitimacy of the police) might just be wrapped up in broader public concerns about social order and moral consensus