Distributed sampled-data control of nonholonomic multi-robot systems with proximity networks

This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be caused by abrupt changes of positions when updating information from neighbors. Distributed sampled-data control laws are designed based on nearest neighbour rules, which in conjunction with continuous-time dynamics results in hybrid closed-loop systems. For uniformly and independently initial states, a sufficient condition is provided to guarantee synchronization for the system without leaders. In order to steer all robots to move with the desired orientation and speed, we then introduce a number of leaders into the system, and quantitatively establish the proportion of leaders needed to track either constant or time-varying signals. All these conditions depend only on the neighborhood radius, the maximum initial moving speed and the dwell time, without assuming a prior properties of the neighbor graphs as are used in most of the existing literature.Comment: 15 pages, 3 figure

Why Botnets Work: Distributed Brute-Force Attacks Need No Synchronization

In September 2017, McAffee Labs quarterly report estimated that brute force attacks represent 20\% of total network attacks, making them the most prevalent type of attack ex-aequo with browser based vulnerabilities. These attacks have sometimes catastrophic consequences, and understanding their fundamental limits may play an important role in the risk assessment of password-secured systems, and in the design of better security protocols. While some solutions exist to prevent online brute-force attacks that arise from one single IP address, attacks performed by botnets are more challenging. In this paper, we analyze these distributed attacks by using a simplified model. Our aim is to understand the impact of distribution and asynchronization on the overall computational effort necessary to breach a system. Our result is based on Guesswork, a measure of the number of queries (guesses) required of an adversary before a correct sequence, such as a password, is found in an optimal attack. Guesswork is a direct surrogate for time and computational effort of guessing a sequence from a set of sequences with associated likelihoods. We model the lack of synchronization by a worst-case optimization in which the queries made by multiple adversarial agents are received in the worst possible order for the adversary, resulting in a min-max formulation. We show that, even without synchronization, and for sequences of growing length, the asymptotic optimal performance is achievable by using randomized guesses drawn from an appropriate distribution. Therefore, randomization is key for distributed asynchronous attacks. In other words, asynchronous guessers can asymptotically perform brute-force attacks as efficiently as synchronized guessers.Comment: Accepted to IEEE Transactions on Information Forensics and Securit

Contract-Based General-Purpose GPU Programming

Using GPUs as general-purpose processors has revolutionized parallel computing by offering, for a large and growing set of algorithms, massive data-parallelization on desktop machines. An obstacle to widespread adoption, however, is the difficulty of programming them and the low-level control of the hardware required to achieve good performance. This paper suggests a programming library, SafeGPU, that aims at striking a balance between programmer productivity and performance, by making GPU data-parallel operations accessible from within a classical object-oriented programming language. The solution is integrated with the design-by-contract approach, which increases confidence in functional program correctness by embedding executable program specifications into the program text. We show that our library leads to modular and maintainable code that is accessible to GPGPU non-experts, while providing performance that is comparable with hand-written CUDA code. Furthermore, runtime contract checking turns out to be feasible, as the contracts can be executed on the GPU

Synchronization in complex networks

Synchronization processes in populations of locally interacting elements are in the focus of intense research in physical, biological, chemical, technological and social systems. The many efforts devoted to understand synchronization phenomena in natural systems take now advantage of the recent theory of complex networks. In this review, we report the advances in the comprehension of synchronization phenomena when oscillating elements are constrained to interact in a complex network topology. We also overview the new emergent features coming out from the interplay between the structure and the function of the underlying pattern of connections. Extensive numerical work as well as analytical approaches to the problem are presented. Finally, we review several applications of synchronization in complex networks to different disciplines: biological systems and neuroscience, engineering and computer science, and economy and social sciences.Comment: Final version published in Physics Reports. More information available at http://synchronets.googlepages.com