Abnormality detection using graph matching for multi-task dynamics of autonomous systems

Self-learning abilities in autonomous systems are essential to improve their situational awareness and detection of normal/abnormal situations. In this work, we propose a graph matching technique for activity detection in autonomous agents by using the Gromov-Wasserstein framework. A clustering approach is used to discretise continuous agents' states related to a specific task into a set of nodes with similar objectives. Additionally, a probabilistic transition matrix between nodes is used as edges weights to build a graph. In this paper, we extract an abnormal area based on a sub-graph that encodes the differences between coupled of activities. Such sub-graph is obtained by applying a threshold on the optimal transport matrix, which is obtained through the graph matching procedure. The obtained results are evaluated through experiments performed by a robot in a simulated environment and by a real autonomous vehicle moving within a University Campus

Jammer Detection in Vehicular V2X Networks

Vehicle-to-Everything (V2X) is an emergent technology for enhancing traffic efficiency, road safety and autonomous driving. Vehicles interconnected with their prevalent wireless environment are prone to various security threats that might affect traffic and life safety mmensely. Jamming attacks, a legacy and dated problem, still persists much to the havoc of V2X communications. The following paper proposes a framework for jammer detection adapted to V2X communications scenario. A Generalized Dynamic Bayesian network is used to learn the V2X signal environment in a statistical manner. Subsequently, a Modified Markov Jump Particle filter (M-MJPF) is used for signal predictions where the innovations in the observed signal versus the predicted signal enable our framework to detect the jammer. Simulation results highlight the efficacy and accuracy of our approach in V2X jammer detection

An Emergent Self-Awareness Module for Physical Layer Security in Cognitive UAV Radios

In this paper, we propose to introduce an emergent Self-Awareness (SA) module at the physical layer (PHY) in Cognitive Unmanned Aerial Vehicle (UAV) Radios to improve PHY security, especially against jamming attacks. SA is based on learning a hierarchical representation of the radio environment by means of a proposed Hierarchical Dynamic Bayesian Network (HDBN). It is shown how the acquired knowledge from previous experiences facilitate the radio spectrum perception and allow the radio to detect abnormal behaviours caused by jamming attacks. Detecting abnormalities realize a fundamental step towards growing up incrementally the radio\u2019s long-term memory. Deviations from predictions estimated during abnormal situations are used to characterize jammers at multiple levels and discover their dynamic behavioural rules. Besides, a proactive consequence can be drawn after estimating the jammer\u2019s signal to act efficiently by mitigating its effects on the received stimuli. Simulation results show that the introduction of the novel SA functionalities with the proposed HDBN framework provides the high accuracy of characterizing, detecting and predicting the jammer\u2019s activities

CONTAINER LOCALISATION AND MASS ESTIMATION WITH AN RGB-D CAMERA

In the research area of human-robot interactions, the automatic estimation of the mass of a container manipulated by a person leveraging only visual information is a challenging task. The main challenges consist of occlusions, different filling materials and lighting conditions. The mass of an object constitutes key information for the robot to correctly regulate the force required to grasp the container. We propose a single RGB-D camera-based method to locate a manipulated container and estimate its empty mass i.e., independently of the presence of the content. The method first automatically selects a number of candidate containers based on the distance with the fixed frontal view, then averages the mass predictions of a lightweight model to provide the final estimation. Results on the CORSMAL Containers Manipulation dataset show that the proposed method estimates empty container mass obtaining a score of 71.08% under different lighting or filling conditions

A Novel Resource Allocation for Anti-jamming in Cognitive-UAVs: an Active Inference Approach

This work proposes a novel resource allocation strategy for anti-jamming in Cognitive Radio using Active Inference (AIn), and a cognitive-UAV is employed as a case study. An Active Generalized Dynamic Bayesian Network (Active-GDBN) is proposed to represent the external environment that jointly encodes the physical signal dynamics and the dynamic interaction between UAV and jammer in the spectrum. We cast the action and planning as a Bayesian inference problem that can be solved by avoiding surprising states (minimizing abnormality) during online learning. Simulation results verify the effectiveness of the proposed AIn approach in minimizing abnormalities (maximizing rewards) and has a high convergence speed by comparing it with the conventional Frequency Hopping and Q-learnin

Incremental learning of abnormalities in autonomous systems

In autonomous systems, self-awareness capabilities are useful to allow artificial agents to detect abnormal situations based on previous experiences. This paper presents a method that facilitates the incremental learning of new models by an agent. Available learned models can dynamically generate probabilistic predictions as well as evaluate their mismatch from current observations. Observed mismatches are grouped through an unsupervised learning strategy into different classes, each of them corresponding to a dynamic model in a given region of the state space. Such clusters define switching Dynamic Bayesian Networks (DBNs) employed for predicting future instances and detect anomalies. Inferences generated by several DBNs that use different sensorial data are compared quantitatively. For testing the proposed approach, it is considered the multi-sensorial data generated by a robot performing various tasks in a controlled environment and a real autonomous vehicle moving at a University Campus

Dynamic Bayesian Collective Awareness Models for a Network of Ego-Things

A novel approach is proposed for multimodal collective awareness (CA) of multiple networked intelligent agents. Each agent is here considered as an Internet-of-Things (IoT) node equipped with machine learning capabilities; CA aims to provide the network with updated causal knowledge of the state of execution of actions of each node performing a joint task, with particular attention to anomalies that can arise. Data-driven dynamic Bayesian models learned from multisensory data recorded during the normal realization of a joint task (agent network experience) are used for distributed state estimation of agents and detection of abnormalities. A set of switching dynamic Bayesian network (DBN) models collectively learned in a training phase, each related to particular sensorial modality, is used to allow each agent in the network to perform synchronous estimation of possible abnormalities occurring when a new task of the same type is jointly performed. Collective DBN (CDBN) learning is performed by unsupervised clustering of generalized errors (GEs) obtained from a starting generalized model. A growing neural gas (GNG) algorithm is used as a basis to learn the discrete switching variables at the semantic level. Conditional probabilities linking nodes in the CDBN models are estimated using obtained clusters. CDBN models are associated with a Bayesian inference method, namely, distributed Markov jump particle filter (D-MJPF), employed for joint state estimation and abnormality detection. The effects of networking protocols and of communications in the estimation of state and abnormalities are analyzed. Performance is evaluated by using a small network of two autonomous vehicles performing joint navigation tasks in a controlled environment. In the proposed method, first the sharing of observations is considered in ideal condition, and then the effects of a wireless communication channel have been analyzed for the collective abnormality estimation of the agents. Rician wireless channel and the usage of two protocols (i.e., IEEE 802.11p and IEEE 802.15.4) along with different channel conditions are considered as well

Jammer detection in M-QAM-OFDM by learning a dynamic Bayesian model for the cognitive radio

Communication and information field has witnessed recent developments in wireless technologies. Among such emerging technologies, the Internet of Things (IoT) is gaining a lot of popularity and attention in almost every field. IoT devices have to be equipped with cognitive capabilities to enhance spectrum utilization by sensing and learning the surrounding environment. IoT network is susceptible to the various jamming attacks which interrupt users communication. In this paper, two systems (Single and Bank-Parallel) have been proposed to implement a Dynamic Bayesian Network (DBN) Model to detect jammer in Orthogonal Frequency Division Multiplexing (OFDM) sub-carriers modulated with different M-QAM. The comparison of the two systems has been evaluated by simulation results after analyzing the effect of self-organizing map's (SOM) size on the performance of the proposed systems in relation to M-QAM modulation

Collective Awareness for Abnormality Detection in Connected Autonomous Vehicles

The advancements in connected and autonomous vehicles in these times demand the availability of tools providing the agents with the capability to be aware and predict their own states and context dynamics. This article presents a novel approach to develop an initial level of collective awareness (CA) in a network of intelligent agents. A specific collective self-awareness functionality is considered, namely, agent-centered detection of abnormal situations present in the environment around any agent in the network. Moreover, the agent should be capable of analyzing how such abnormalities can influence the future actions of each agent . Data-driven dynamic Bayesian network (DBN) models learned from time series of sensory data recorded during the realization of tasks (agent network experiences) are here used for abnormality detection and prediction. A set of DBNs, each related to an agent , is used to allow the agents in the network to reach synchronously aware possible abnormalities occurring when available models are used on a new instance of the task for which DBNs have been learned. A growing neural gas (GNG) algorithm is used to learn the node variables and conditional probabilities linking nodes in the DBN models; a Markov jump particle filter (MJPF) is employed for state estimation and abnormality detection in each agent using learned DBNs as filter parameters. Performance metrics are discussed to asses the algorithm’s reliability and accuracy. The impact is also evaluated by the communication channel used by the network to share the data sensed in a distributed way by each agent of the network. The IEEE 802.11p protocol standard has been considered for communication among agents. Performances of the DBN-based abnormality detection models under different channel and source conditions are discussed. The effects of distances among agents and of the delays and packet losses are analyzed in different scenario categories (urban, suburban, and rural). Real data se..