On the vulnerabilities of voronoi-based approaches to mobile sensor deployment

Mobile sensor networks are the most promising solution to cover an Area of Interest (AoI) in safety critical scenarios. Mobile devices can coordinate with each other according to a distributed deployment algorithm, without resorting to human supervision for device positioning and network configuration. In this paper, we focus on the vulnerabilities of the deployment algorithms based on Voronoi diagrams to coordinate mobile sensors and guide their movements. We give a geometric characterization of possible attack configurations, proving that a simple attack consisting of a barrier of few compromised sensors can severely reduce network coverage. On the basis of the above characterization, we propose two new secure deployment algorithms, named SecureVor and Secure Swap Deployment (SSD). These algorithms allow a sensor to detect compromised nodes by analyzing their movements, under different and complementary operative settings. We show that the proposed algorithms are effective in defeating a barrier attack, and both have guaranteed termination. We perform extensive simulations to study the performance of the two algorithms and compare them with the original approach. Results show that SecureVor and SSD have better robustness and flexibility and excellent coverage capabilities and deployment time, even in the presence of an attac

Intelligent deployment strategies for passive underwater sensor networks

Passive underwater sensor networks are often used to monitor a general area of the ocean, a port or military installation, or to detect underwater vehicles near a high value unit at sea, such as a fuel ship or aircraft carrier. Deploying an underwater sensor network across a large area of interest (AOI), for military surveillance purposes, is a significant challenge due to the inherent difficulties posed by the underwater channel in terms of sensing and communications between sensors. Moreover, monetary constraints, arising from the high cost of these sensors and their deployment, limit the number of available sensors. As a result, sensor deployment must be done as efficiently as possible. The objective of this work is to develop a deployment strategy for passive underwater sensors in an area clearance scenario, where there is no apparent target for an adversary to gravitate towards, such as a ship or a port, while considering all factors pertinent to underwater sensor deployment. These factors include sensing range, communications range, monetary costs, link redundancy, range dependence, and probabilistic visitation. A complete treatment of the underwater sensor deployment problem is presented in this work from determining the purpose of the sensor field to physically deploying the sensors. Assuming a field designer is given a suboptimal number of sensors, they must be methodically allocated across an AOI. The Game Theory Field Design (GTFD) model, proposed in this work, is able to accomplish this task by evaluating the acoustic characteristics across the AOI and allocating sensors accordingly. Since GTFD considers only circular sensing coverage regions, an extension is proposed to consider irregularly shaped regions. Sensor deployment locations are planned using a proposed evolutionary approach, called the Underwater Sensor Deployment Evolutionary Algorithm, which utilizes two suitable network topologies, mesh and cluster. The effects of these topologies, and a sensor\u27s communications range, on the sensing capabilities of a sensor field, are also investigated. Lastly, the impact of deployment imprecision on the connectivity of an underwater sensor field, using a mesh topology, is analyzed, for cases where sensor locations after deployment do not exactly coincide with planned sensor locations

How Physicality Enables Trust: A New Era of Trust-Centered Cyberphysical Systems

Multi-agent cyberphysical systems enable new capabilities in efficiency, resilience, and security. The unique characteristics of these systems prompt a reevaluation of their security concepts, including their vulnerabilities, and mechanisms to mitigate these vulnerabilities. This survey paper examines how advancement in wireless networking, coupled with the sensing and computing in cyberphysical systems, can foster novel security capabilities. This study delves into three main themes related to securing multi-agent cyberphysical systems. First, we discuss the threats that are particularly relevant to multi-agent cyberphysical systems given the potential lack of trust between agents. Second, we present prospects for sensing, contextual awareness, and authentication, enabling the inference and measurement of ``inter-agent trust" for these systems. Third, we elaborate on the application of quantifiable trust notions to enable ``resilient coordination," where ``resilient" signifies sustained functionality amid attacks on multiagent cyberphysical systems. We refer to the capability of cyberphysical systems to self-organize, and coordinate to achieve a task as autonomy. This survey unveils the cyberphysical character of future interconnected systems as a pivotal catalyst for realizing robust, trust-centered autonomy in tomorrow's world

Multi-Level Multi-Objective Programming and Optimization for Integrated Air Defense System Disruption

The U.S. military\u27s ability to project military force is being challenged. This research develops and demonstrates the application of three respective sensor location, relocation, and network intrusion models to provide the mathematical basis for the strategic engagement of emerging technologically advanced, highly-mobile, Integrated Air Defense Systems. First, we propose a bilevel mathematical programming model for locating a heterogeneous set of sensors to maximize the minimum exposure of an intruder\u27s penetration path through a defended region. Next, we formulate a multi-objective, bilevel optimization model to relocate surviving sensors to maximize an intruder\u27s minimal expected exposure to traverse a defended border region, minimize the maximum sensor relocation time, and minimize the total number of sensors requiring relocation. Lastly, we present a trilevel, attacker-defender-attacker formulation for the heterogeneous sensor network intrusion problem to optimally incapacitate a subset of the defender\u27s sensors and degrade a subset of the defender\u27s network to ultimately determine the attacker\u27s optimal penetration path through a defended network

Efficient Mission Planning for Robot Networks in Communication Constrained Environments

Many robotic systems are remotely operated nowadays that require uninterrupted connection and safe mission planning. Such systems are commonly found in military drones, search and rescue operations, mining robotics, agriculture, and environmental monitoring. Different robotic systems may employ disparate communication modalities such as radio network, visible light communication, satellite, infrared, Wi-Fi. However, in an autonomous mission where the robots are expected to be interconnected, communication constrained environment frequently arises due to the out of range problem or unavailability of the signal. Furthermore, several automated projects (building construction, assembly line) do not guarantee uninterrupted communication, and a safe project plan is required that optimizes collision risks, cost, and duration. In this thesis, we propose four pronged approaches to alleviate some of these issues: 1) Communication aware world mapping; 2) Communication preserving using the Line-of-Sight (LoS); 3) Communication aware safe planning; and 4) Multi-Objective motion planning for navigation. First, we focus on developing a communication aware world map that integrates traditional world models with the planning of multi-robot placement. Our proposed communication map selects the optimal placement of a chain of intermediate relay vehicles in order to maximize communication quality to a remote unit. We also vi propose an algorithm to build a min-Arborescence tree when there are multiple remote units to be served. Second, in communication denied environments, we use Line-of-Sight (LoS) to establish communication between mobile robots, control their movements and relay information to other autonomous units. We formulate and study the complexity of a multi-robot relay network positioning problem and propose approximation algorithms that restore visibility based connectivity through the relocation of one or more robots. Third, we develop a framework to quantify the safety score of a fully automated robotic mission where the coexistence of human and robot may pose a collision risk. A number of alternate mission plans are analyzed using motion planning algorithms to select the safest one. Finally, an efficient multi-objective optimization based path planning for the robots is developed to deal with several Pareto optimal cost attributes

A cancelable iris- and steganography-based user authentication system for the Internet of Things

Remote user authentication for Internet of Things (IoT) devices is critical to IoT security, as it helps prevent unauthorized access to IoT networks. Biometrics is an appealing authentication technique due to its advantages over traditional password-based authentication. However, the protection of biometric data itself is also important, as original biometric data cannot be replaced or reissued if compromised. In this paper, we propose a cancelable iris- and steganography-based user authentication system to provide user authentication and secure the original iris data. Most of the existing cancelable iris biometric systems need a user-specific key to guide feature transformation, e.g., permutation or random projection, which is also known as key-dependent transformation. One issue associated with key-dependent transformations is that if the user-specific key is compromised, some useful information can be leaked and exploited by adversaries to restore the original iris feature data. To mitigate this risk, the proposed scheme enhances system security by integrating an effective information-hiding technique-steganography. By concealing the user-specific key, the threat of key exposure-related attacks, e.g., attacks via record multiplicity, can be defused, thus heightening the overall system security and complementing the protection offered by cancelable biometric techniques

Secure and Reliable Routing Protocol for Transmission Data in Wireless Sensor Mesh Networks

Abstract Sensor nodes collect data from the physical world then exchange it until it reaches the intended destination. This information can be sensitive, such as battlefield surveillance. Therefore, providing secure and continuous data transmissions among sensor nodes in wireless network environments is crucial. Wireless sensor networks (WSN) have limited resources, limited computation capabilities, and the exchange of data through the air and deployment in accessible areas makes the energy, security, and routing major concerns in WSN. In this research we are looking at security issues for the above reasons. WSN is susceptible to malicious activities such as hacking and physical attacks. In general, security threats are classified depending on the layers. Physical, Transport, Network, Data link, and the Application layer. Sensor nodes can be placed in an unfriendly environments and it has lower power energy, computation and bandwidth, are exposed to a failure, and the WSN topology dynamically unstable. The recent wireless sensor protocols are intended for data communication transmission energy consumption. Therefore, many do not consider the security in WSN as much as they should and it might be vulnerable to attacks. Standard crypto systems methods aim to protect the authentication and integrity of data packets during the transmission stage between senders and receivers. In this dissertation we present Adel which is a novel routing protocol for exchanging data through wireless sensor mesh networks using Ant Colony Optimization (ACO) algorithm. Adel enhances security level during data transmission between sender party and receiver party in wireless network environment. Once the sensor nodes are deployed in a network, they need to inform their location and their data related to the security for the further communication in the network. For that purpose, ii an efficient mechanism is implemented in order to perform better communication among sensor nodes. Adel generates dynamic routing table using ACO algorithm with all the necessary information from network nodes after being deployed. Adel works with minimum routing restrictions and exploits the advantages of the three multicast routing styles, unicast, path, and mesh based. Since it takes a routing decision with a minimum number of nodes using the shortest path between the sender and the receiver nodes, Adel is applicable in static networks. Four essential performance metrics in mesh networks, network security analysis, network latency time, network packets drop, network delivery ratio, and network throughput are evaluated. Adel routing protocol has met the most important security requirements such as authorization, authentication, confidentiality, and integrity. It also grantees the absence of the cycle path problem in the network.This research reports the implementation and the performance of the proposed protocol using network simulator NS-2. The seven main parameters are considered for evaluation all experiments are security trust, packets drop, energy consumption, throughput, end to end delay and packet delivery ratio. The results show that the proposed system can significantly enhance the network security and connectivity level compared to other routing protocols. Yet, as expected, it did not do so well in energy consumption since our main goal was to provide higher level of security and connectivit

Fault-tolerant control policies for multi-robot systems

Throughout the past decade, we have witnessed an active interest in distributed motion coordination algorithms for networked mobile autonomous robots. Often, in multi-robot systems, each robot executing a coordination task is a little cost, a disposable autonomous agent that has ad-hoc sensing or communication capability, and limited mobility. Coordination tasks that a group of multiple mobile robots might perform include formation control, rendezvous, distributed estimation, deployment, flocking, etc. Also, there are challenging tasks that are more suitable for a group of mobile robots than an individual robot, such as surveillance, exploration, or hazardous environmental monitoring. The field has been collectively investigated by many researchers in robotics, control, artificial intelligence, and distributed computing. However, relatively little work has been done on developing algorithms to provide resilience to failures that can occur. The problem is extremely difficult to handle in that any partial failure of a robot is not readily detectable. Some failures in robot resources can have an adverse effect on not only the performance of the robot itself, but also other robots, and the collective task performance as well. This study presents the development of fault-tolerant distributed control policies for multi-robot systems. We consider two problems: rendezvous and coverage. For the former, the goal is to bring all robots to a common location, while for the latter the goal is to deploy robots to achieve optimal coverage of an environment. We consider the case in which each robot is an autonomous decision maker that is anonymous (i.e., robots are indistinguishable to one another), memoryless (i.e., each robot makes decisions based upon only its current information), and dimensionless (i.e., collision checking is not considered). Each robot has a limited sensing range and can directly estimate the state of only those robots within that sensing range, which induces a network topology for the multi-robot system. We assume that it is not possible for the fault-free robots to identify the faulty robots (e.g., due to the anonymous property of the robots). For each problem, we provide an efficient computational framework and analysis of algorithms, all of which converge in the face of faulty robots under a few assumptions on the network topology and sensing abilities. A suite of experiments and simulations confirm our theoretical analysis and demonstrate that our proposed algorithms are useful in fault-prone multi-robot systems

Network analysis and algorithm solutions in critical emergency scenarios

Critical emergency scenarios in network communication, mobile wireless sensor networks and Smart Grids. Network recovery after massive disruption, algorithms for damaged networks, protocols for damaged networks, progressive monitoring of a damaged network, progressive flow restoration of a damaged network. Analysis of the vulnerabilities of the deployment algorithm for Mobile Wireless Sensor Netowkrs in human hostile environment, Algorithms for Mobile Wireless Sensor Networks under attack. Analysis of the cascading failures phenomenon in the Smart Grids, Prevents Large Blackout in the Smart Grids, Reduce the energy demand on the Smart Grids using the Internet of Things

Department of Computer Science Activity 1998-2004

This report summarizes much of the research and teaching activity of the Department of Computer Science at Dartmouth College between late 1998 and late 2004. The material for this report was collected as part of the final report for NSF Institutional Infrastructure award EIA-9802068, which funded equipment and technical staff during that six-year period. This equipment and staff supported essentially all of the department\u27s research activity during that period