Search results for "Real-Time"

Consensus-based Distributed Intrusion Detection for Multi-Robot Systems

2008

This paper addresses a security problem in robotic multi-agent systems, where agents are supposed to cooperate according to a shared protocol. A distributed Intrusion Detection System (IDS) is proposed here, that detects possible non-cooperative agents. Previous work by the authors showed how single monitors embedded on-board the agents can detect non- cooperative behavior, using only locally available information. In this paper, we allow such monitors to share the collected information in order to overcome their sensing limitation. In this perspective, we show how an agreement on the type of behavior of a target-robot may be reached by the monitors, through execution of a suitable consensu…

Synchronization in Vehicle Routing—A Survey of VRPs with Multiple Synchronization Constraints

2012

This paper presents a survey of vehicle routing problems with multiple synchronization constraints. These problems exhibit, in addition to the usual task covering constraints, further synchronization requirements between the vehicles, concerning spatial, temporal, and load aspects. They constitute an emerging field in vehicle routing research and are becoming a “hot” topic. The contribution of the paper is threefold: (i) It presents a classification of different types of synchronization. (ii) It discusses the central issues related to the exact and heuristic solution of such problems. (iii) It comprehensively reviews pertinent literature with respect to applications as well as successful s…

Unidirectional Direct Load Control through Smart Plugs

2014

International audience; Balancing energy demand and production is be-coming a more and more challenging task for energy utilities also because of the larger penetration of renewable energies which are more difficult to predict and control. While the traditional solution is to dynamically adapt energy production to follow time-varying demand, a new trend is to drive demand itself. Most of the ongoing actions in this direction involve greedy energy consumers, like industrial plants, supermarkets or large buildings. Pervasive communication technologies may allow in the near future to push further the granularity of such approach, by having the energy utility interacting with residen-tial appli…

Distributed Multi-level Motion Planning for Autonomous Vehicles in Large Scale Industrial Environments

2013

In this paper we propose a distributed coordination algorithm for safe and efficient traffic management of heterogeneous robotic agents, moving within dynamic large scale industrial environments. The algorithm consists of a distributed resource--sharing protocol involving a re--planning strategy. Once every agent is assigned with a desired motion path, the algorithm ensures ordered traffic flows of agents, that avoid inter--robot collision and system deadlock (stalls). The algorithm allows multi--level representation of the environment, i.e. large or complex rooms may be seen as a unique resource with given capacity at convenience, which makes the approach appealing for complex industrial e…

Local Monitor Implementation for Decentralized Intrusion Detection in Secure Multi–Agent Systems

2007

This paper focuses on the detection of misbehav- ing agents within a group of mobile robots. A novel approach to automatically synthesize a decentralized Intrusion Detection System (IDS) as well as an efficient implementation of local monitors are presented. In our scenario, agents perform possi- bly different independent tasks, but cooperate to guarantee the entire system’s safety. Indeed, agents plan their next actions by following a set of logic rules which is shared among them. Such rules are decentralized, i.e. they depend only on configurations of neighboring agents. However, some agents may not be acting according to this cooperation protocol, due to spontaneous failure or tampering.…

Medición del efecto látigo en redes de suministro

2016

La variabilidad de la demanda que se origina de un agente a otro en la cadena de suministro, aumenta o amplifica a medida que la señal se aleja del punto de origen; estas distorsiones se denominan Efecto Látigo. En este artículo se aborda una red de suministros multieslabón, que estima los intervalos de medición de la distorsión de la demanda de la red, de acuerdo a comportamientos extremos en el sistema que permiten diagnosticar su desempeño en términos de la amplificación de demanda. Para la investigación se aplican mediciones estáticas locales y globales del efecto látigo, en cada nivel de la red de suministros del juego de la cerveza de cuatro eta-pas; cada etapa o eslabón tiene múltipl…

A new ifierarchical and intelligent control architecture based on distributed neural networks and expert systems applied to vehicle automation

2005

Autonomous patrol and surveillance system using unmanned aerial vehicles

2015

Unmanned aerial vehicles (UAVs) are increasingly popular for civil applications due to their flight capabilities and mobility. This paper proposes an indoor autonomous patrol and surveillance system using unmanned aerial vehicles. The system consists of six components: (1) a low cost vision-based pose estimation of UAVs, (2) vision-based state estimation, (3) UAV patrol path planning, (4) UAV controller to desired waypoints, (5) manual joystick controller and (6) assignment of priority hierarchy to multiple control inputs of a robot. The components were integrated successfully and the designed system was experimented in an indoor setup. Results has shown that the proposed system is suitable…

Designing an open source maintenance-free Environmental Monitoring Application for Wireless Sensor Networks

2015

We discuss the analysis and design of an Environmental Monitoring Application.The application is reliable and maintenance-free, runs in multihop wireless network.We analyze the different alternatives and tradeoffs, using open source software.The application is validated in long-term outdoor deployments with good results.Related work does not analyze the software design with open source. We discuss the entire process for the analysis and design of an Environmental Monitoring Application for Wireless Sensor Networks, using existing open source components to create the application. We provide a thorough study of the different alternatives, from the selection of the embedded operating system to…

Low-Cost Alternatives for Urban Noise Nuisance Monitoring Using Wireless Sensor Networks

2015

Noise pollution caused by vehicular traffic is a common problem in urban environments that has been shown to affect people's health and children's cognition. In the last decade, several studies have been conducted to assess this noise, by measuring the equivalent noise pressure level (called L eq ) to acquire an accurate sound map using wireless networks with acoustic sensors. However, even with similar values of L eq , people can feel the noise differently according to its frequency characteristics. Thus, indexes, which can express people's feelings by subjective measures, are required. In this paper, we analyze the suitability of using the psychoacoustic metrics given by the Zwicker's mod…