Swarm robotics in wireless distributed protocol design for coordinating robots involved in cooperative tasks

The mine detection in an unexplored area is an optimization problem where multiple mines, randomly distributed throughout an area, need to be discovered and disarmed in a minimum amount of time. We propose a strategy to explore an unknown area, using a stigmergy approach based on ants behavior, and a novel swarm based protocol to recruit and coordinate robots for disarming the mines cooperatively. Simulation tests are presented to show the effectiveness of our proposed Ant-based Task Robot Coordination (ATRC) with only the exploration task and with both exploration and recruiting strategies. Multiple minimization objectives have been considered: the robots' recruiting time and the overall area exploration time. We discuss, through simulation, different cases under different network and field conditions, performed by the robots. The results have shown that the proposed decentralized approaches enable the swarm of robots to perform cooperative tasks intelligently without any central control

Comparison of bio-inspired algorithms applied to the coordination of mobile robots considering the energy consumption

Many applications, related to autonomous mobile robots, require to explore in an unknown environment searching for static targets, without any a priori information about the environment topology and target locations. Targets in such rescue missions can be fire, mines, human victims, or dangerous material that the robots have to handle. In these scenarios, some cooperation among the robots is required for accomplishing the mission. This paper focuses on the application of different bio-inspired metaheuristics for the coordination of a swarm of mobile robots that have to explore an unknown area in order to rescue and handle cooperatively some distributed targets. This problem is formulated by first defining an optimization model and then considering two sub-problems: exploration and recruiting. Firstly, the environment is incrementally explored by robots using a modified version of ant colony optimization. Then, when a robot detects a target, a recruiting mechanism is carried out to recruit a certain number of robots to deal with the found target together. For this latter purpose, we have proposed and compared three approaches based on three different bio-inspired algorithms (Firefly Algorithm, Particle Swarm Optimization, and Artificial Bee Algorithm). A computational study and extensive simulations have been carried out to assess the behavior of the proposed approaches and to analyze their performance in terms of total energy consumed by the robots to complete the mission. Simulation results indicate that the firefly-based strategy usually provides superior performance and can reduce the wastage of energy, especially in complex scenarios

A simulator for drones and Fanet management supporting multimedia traffic under human mobility

In this paper a simulator for the management of a team of Unmanned Aerial Vehicles (UAVs) and drones has been proposed. This new network is known as Fly Ad-Hoc Network (FANET), and it is a particular type of Mobile Ad-Hoc Network (MANET) but with some specific aspects that allow to provide new services in future generation networks. One of the possible applications is emergency situations or scenario where drones can provide an additional or complementary access networks supporting web services and multimedia traffic. In this paper a simulator for FANET deploying has been proposed providing the possibility to simulate different scenarios with different coverage areas. New coverage model has been included in the features and also interesting human mobility model to support more realistic users mobility. Moreover, additional modules for traffic pattern generation have been implemented to create scenario where mobile users can activate multimedia calls and traffic on FANET. Some simulations have been led out to show how the simulator works

Long-term results of iliac aneurysm repair with iliac branched endograft. A 5-year experience on 100 consecutive cases

Background: Iliac branch device (IBD) technique has been introduced as an appealing and effective solution to avoid complications occurring during repair of aorto-iliac aneurysm with extensive iliac involvement. Nevertheless, no large series with long-term follow-up of IBD are available. The aim of this study was to analyse safety and long-term efficacy of IBD in a consecutive series of patients.Methods: Between 2006 and 2011, 100 consecutive patients were enrolled in a prospective database on IBD. Indications included unilateral or bilateral common iliac artery aneurysms combined or not with abdominal aneurysms. Patients were routinely followed up with computed tomography. Data were reported according to the Kaplan-Meier method.Results: There were 96 males, mean age 74.1 years. Preoperative median common iliac aneurysm diameter was 40 mm (interquartile range (IQR): 35-44 mm). Sixty-seven patients had abdominal aortic aneurysm >35 mm (IQR: 40-57 mm) associated with iliac aneurysm. Eleven patients presented hypogastric aneurysm. Twelve patients underwent isolated iliac repair with IBD and 88 patients received associated endovascular aortic repair. Periprocedural technical success rate was 95%, with no mortality. Two patients experienced external iliac occlusion in the first month. At a median follow-up of 21 months (range 1-60) aneurysm growth >3 mm was detected in four iliac (4%) arteries. Iliac endoleak (one type III and two distal type I) developed in three patients and buttock claudication in four patients. Estimated patency rate of internal iliac branch was 91.4% at 1 and 5 years. Freedom from any reintervention rate was 90% at 1 year and 81.4% at 5 years. No late ruptures occurred.Conclusions: Long-term results show that IBD use can ensure persistent iliac aneurysm exclusion at 5 years, with low risk of reintervention. This technique can be considered as a first endovascular option in patients with extensive iliac aneurysm disease and favourable anatomy. (C) 2011 European Society for Vascular Surgery. Published by Elsevier Ltd. All rights reserved

Managing emergency situations in VANET through heterogeneous technologies cooperation

Nowadays, the research on vehicular computing enhanced a very huge amount of services and protocols, aimed to vehicles security and comfort. The investigation of the IEEE802.11p, Wireless Access in Vehicular Environments (WAVE) and Dedicated Short Range Communication (DSRC) standards gave to the scientific world the chance to integrate new services, protocols, algorithms and devices inside vehicles. This opportunity attracted the attention of private/public organizations, which spent lot of resources and money to promote vehicular technologies. In this paper, the attention is focused on the design of a new approach for vehicular environments able to gather information during mobile node trips, for advising dangerous or emergency situations by exploiting on-board sensors. It is assumed that each vehicle has an integrated on-board unit composed of several sensors and Global Position System (GPS) device, able to spread alerting messages around the network, regarding warning and dangerous situations/conditions. On-board units, based on the standard communication protocols, share the collected information with the surrounding road-side units, while the sensing platform is able to recognize the environment that vehicles are passing through (obstacles, accidents, emergencies, dangerous situations, etc.). Finally, through the use of the GPS receiver, the exact location of the caught event is determined and spread along the network. In this way, if an accident occurs, the arriving cars will, probably, avoid delay and danger situations

A new FANET simulator for managing drone networks and providing dynamic connectivity

In the last decade, the attention on unmanned aerial vehicles has rapidly grown, due to their ability to help in many human activities. Among their widespread benefits, one of the most important uses regards the possibility of distributing wireless connectivity to many users in a specific coverage area. In this study, we focus our attention on these new kinds of networks, called flying ad-hoc networks. As stated in the literature, they are suitable for all emergency situations where the traditional networking paradigm may have many issues or difficulties to be implemented. The use of a software simulator can give important help to the scientific community in the choice of the right UAV/drone parameters in many different situations. In particular, in this work, we focus our main attention on the new ways of area covering and human mobility behaviors with the introduction of a UAV/drone behavior model to take into account also drones energetic issues. A deep campaign of simulations was carried out to evaluate the goodness of the proposed simulator illustrating how it works

On packet marking and Markov modeling for IP Traceback: A deep probabilistic and stochastic analysis

From many years, the methods to defend against Denial of Service attacks have been very attractive from different point of views, although network security is a large and very complex topic. Different techniques have been proposed and so-called packet marking and IP tracing procedures have especially demonstrated a good capacity to face different malicious attacks. While host-based DoS attacks are more easily traced and managed, network-based DoS attacks are a more challenging threat. In this paper, we discuss a powerful aspect of the IP traceback method, which allows a router to mark and add information to attack packets on the basis of a fixed probability value. We propose a potential method for modeling the classic probabilistic packet marking algorithm as Markov chains, allowing a closed form to be obtained for evaluating the correct number of received marked packets in order to build a meaningful attack graph and analyze how marking routers must behave to minimize the overall overhead