Consensus of Multi-Agent Networks in the Presence of Adversaries Using Only Local Information

This paper addresses the problem of resilient consensus in the presence of misbehaving nodes. Although it is typical to assume knowledge of at least some nonlocal information when studying secure and fault-tolerant consensus algorithms, this assumption is not suitable for large-scale dynamic networks. To remedy this, we emphasize the use of local strategies to deal with resilience to security breaches. We study a consensus protocol that uses only local information and we consider worst-case security breaches, where the compromised nodes have full knowledge of the network and the intentions of the other nodes. We provide necessary and sufficient conditions for the normal nodes to reach consensus despite the influence of the malicious nodes under different threat assumptions. These conditions are stated in terms of a novel graph-theoretic property referred to as network robustness.Comment: This report contains the proofs of the results presented at HiCoNS 201

Enhancing Cyber Security through Machine Learning-Based Anomaly Detection in IoT Networks

The rapid proliferation of IOT (Internet of Things) networks has brought transformative benefits to industries and everyday life. However, it has also introduced unprecedented cyber security challenges, necessitating advanced techniques for anomaly detection. This research focuses on enhancing cyber security through the application of machine learning-based anomaly detection methods, specifically One-Class Support Vector Machine (SVM) and Isolation Forest, in the context of IOT networks. While Isolation Forest effectively isolates anomalies by building isolation trees, One-Class SVM models the normal data distribution, effectively separating anomalies. To provide a strong security framework for IoT networks, we suggest a comprehensive strategy that combines both algorithms. Our method enables the detection of anomalies in real-time IOT data streams, facilitating prompt responses to new threats. Data collection, preprocessing, and model training are key components. This study helps protect IOT ecosystems and maintain data integrity and privacy in an increasingly connected world by utilizing the benefits of One-Class SVM and Isolation Forest

Real Time Dense Depth Estimation by Fusing Stereo with Sparse Depth Measurements

We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range camera. The goal of this work is to exploit the complementary strengths of the two sensor modalities, the accurate but sparse range measurements and the ambiguous but dense stereo information. These two sources are effectively and efficiently fused by combining ideas from anisotropic diffusion and semi-global matching. We evaluate our approach on the KITTI 2015 and Middlebury 2014 datasets, using randomly sampled ground truth range measurements as our sparse depth input. We achieve significant performance improvements with a small fraction of range measurements on both datasets. We also provide qualitative results from our platform using the PMDTec Monstar sensor. Our entire pipeline runs on an NVIDIA TX-2 platform at 5Hz on 1280x1024 stereo images with 128 disparity levels.Comment: 7 pages, 5 figures, 2 table

Establishing Self-Healing and Seamless Connectivity among IoT Networks Using Kalman Filter

The Internet of Things (IoT) is the extension of Internet connectivity into physical devices and to everyday objects. Efficient mobility support in IoT provides seamless connectivity to mobile nodes having restrained resources in terms of energy, memory and link capacity. Existing routing algorithms have less reactivity to mobility. So, in this work, a new proactive mobility support algorithm based on the Kalman Filter has been proposed. Mobile nodes are provided with a seamless connectivity by minimizing the switching numbers between point of attachment which helps in reducing signaling overhead and power consumption. The handoff trigger scheme which makes use of mobility information in order to predict handoff event occurrence is used.  Mobile nodes new attachment points and its trajectory is predicted using the Kalman-Filter. Kalman-Filter is a predictor-estimator method used for movement prediction is used in this approach. Kalman Filtering is carried out in two steps: i) Predicting and ii) Updating. Each step is investigated and coded as a function with matrix input and output. Self-healing characteristics is being considered in the proposed algorithm to prevent the network from failing and to help in efficient routing of data. Proposed approach achieves high efficiency in terms of movement prediction, energy efficiency, handoff delay and fault tolerance when compared to existing approach

Observing the Onset of Effective Mass

The response of a particle in a periodic potential to an applied force is commonly described by an effective mass which accounts for the detailed interaction between the particle and the surrounding potential. Using a Bose-Einstein condensate of 87-Rb atoms initially in the ground band of an optical lattice, we experimentally show that the initial response of a particle to an applied force is in fact characterized by the bare mass. Subsequently, the particle response undergoes rapid oscillations and only over timescales long compared to that of the interband dynamics is the effective mass observed to be an appropriate description