With the application of robotics in security monitoring, medical care, image analysis, and other high-privacy fields, vision sensor data in robotic operating systems (ROS) faces the challenge of ...enhancing secure storage and transmission. Recently, it has been proposed that the distributed advantages of blockchain be taken advantage of to improve the security of data in ROS. Still, it has limitations such as high latency and large resource consumption. To address these issues, this paper introduces PrivShieldROS, an extended robotic operating system developed by InterPlanetary File System (IPFS), blockchain, and HybridABEnc to enhance the confidentiality and security of vision sensor data in ROS. The system takes advantage of the decentralized nature of IPFS to enhance data availability and robustness while combining HybridABEnc for fine-grained access control. In addition, it ensures the security and confidentiality of the data distribution mechanism by using blockchain technology to store data content identifiers (CID) persistently. Finally, the effectiveness of this system is verified by three experiments. Compared with the state-of-the-art blockchain-extended ROS, PrivShieldROS shows improvements in key metrics. This paper has been partly submitted to IROS 2024.
Urban Air Mobility (UAM) is an emerging aviation sector which the goal is to transform air transportation with safe, on-demand air travel for both passengers and cargo. UAM flight planning ...strategically separates flows of aircraft on intersecting routes vertically by allocating distinct flight levels to them, and aircraft are required to maintain the flight level when crossing the intersection. However, there is a possibility that an aircraft may fail to maintain the assigned flight level, leading to a potential conflict at intersections. This paper aims to address conflicts at intersections in the context of UAM, focusing on decentralized conflict detection and resolution. A novel approach is developed to facilitate information exchange among UAM components, including the provider of services to UAM, UAM operators, and the pilot in command. A receding horizon trajectory planning approach is proposed for the execution of conflict resolution, optimizing trajectory planning by eliminating potential problems and challenges associated with geometric approaches. The proposed trajectory planner considers the model and constraints of UAM aircraft, offering optimal solutions for safe separation at UAM airspace intersections. The significance of the proposed planning framework is demonstrated through simulations considering conflict at intersections by communicating the UAM components through request and replay services and generating resolution maneuvers on-the-fly for each aircraft involved in the conflict.
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•Detect and resolve aircraft conflicts at Urban Air Mobility (UAM) intersections•Receding horizon optimal trajectory generation to resolve the conflicts•Real-time information exchange for efficient conflict detection and resolution•Developed a communication architecture among UAM components
The accuracy of pose estimation from feature-based Visual Odometry (VO) algorithms is affected by several factors such as lighting conditions and outliers in the matched features. In this paper, a ...generic image processing pipeline is proposed to enhance the accuracy and robustness of feature-based VO algorithms. The pipeline consists of three stages, each addressing a problem that affects the performance of VO algorithms. The first stage tackles the lighting condition problem, where a filter called Contrast Limited Adaptive Histogram Equalization (CLAHE) is applied to the images to overcome changes in lighting in the environment. The second stage uses the Suppression via Square Covering (SSC) algorithm to ensure the features are distributed properly over the images. The last stage proposes a novel outliers rejection approach called the Angle-based Outlier Rejection (AOR) algorithm to remove the outliers generated in the feature matching process. The proposed pipeline is generic and modular and can be integrated with any type of feature-based VO (monocular, RGB-D, or stereo). The efficiency of the proposed pipeline is validated using sequences from KITTI (for stereo VO) and TUM (for RGB-D VO) datasets, as well as experimental sequences using an omnidirectional mobile robot (for monocular VO). The obtained results showed the performance gained by enhancing the accuracy and robustness of the VO algorithms without compromising on the computational cost using the proposed pipeline. The results are substantially better as opposed to not using the pipeline.
This paper presents the development process of a robust and ROS-based Drive-By-Wire system designed for an autonomous electric vehicle from scratch over an open source chassis. A revision of the ...vehicle characteristics and the different modules of our navigation architecture is carried out to put in context our Drive-by-Wire system. The system is composed of a Steer-By-Wire module and a Throttle-By-Wire module that allow driving the vehicle by using some commands of lineal speed and curvature, which are sent through a local network from the control unit of the vehicle. Additionally, a Manual/Automatic switching system has been implemented, which allows the driver to activate the autonomous driving and safely taking control of the vehicle at any time. Finally, some validation tests were performed for our Drive-By-Wire system, as a part of our whole autonomous navigation architecture, showing the good working of our proposal. The results prove that the Drive-By-Wire system has the behaviour and necessary requirements to automate an electric vehicle. In addition, after 812 h of testing, it was proven that it is a robust Drive-By-Wire system, with high reliability. The developed system is the basis for the validation and implementation of new autonomous navigation techniques developed within the group in a real vehicle.
There is a growing body of literature that recognizes the importance of Multi-Robot coordination and Modular Robotics. This work evaluates the secure coordination of an Unmanned Aerial Vehicle (UAV) ...via a drone simulation in Unity and an Unmanned Ground Vehicle (UGV) as a rover. Each robot is equipped with sensors to gather information to send to a cloud server where all computations are performed. Each vehicle is registered by blockchain ledger-based network security. In addition to these, relevant information and alerts are displayed on a website for the users. The usage of UAV–UGV cooperation allows for autonomous surveillance due to the high vantage field of view. Furthermore, the usage of cloud computation lowers the cost of microcontrollers by reducing their complexity. Lastly, blockchain technology mitigates the security issues related to adversarial or malicious robotic nodes connecting to the cluster and not agreeing to privacy rules and norms.
A robot is a prototype that is able to control by automatically to help the human work. Some of the parts to build a robot system are making the mechanical system, hardware, and software. The ...limitation of cost to make the robot hardware and programming skills are an obstacle to learn and develop the robot system. The development of the robot community nowadays makes the Robot Operating System (ROS) and Gazebo as an interactive media to learn and make the robot simulation. ROS is a middleware that equipped with tools and libraries to create a robot software, while Gazebo is a 3D simulation application to build a robot hardware design. On this paper, the researcher makes a robot simulation to avoid the object using Lidar sensor and camera, the simulation has developed using ROS and Gazebo that be able to use as a media for robot learning interactive.
The manouver ability from one place to another in order to accomplish some tasks safely is a basic requirement of mobile robotics. Current robotic’s navigation systems require a ’real world’ map ...data, acquired by on-board sensors, to carry out simultaneous localisation and navigation (SLAM) algorithm. There are several SLAM algorithms. In this article we used SLAM gmapping using robot operating system (ROS) and laser scanner. The gmapping slam algorithm used particle filter method to localize robot pose within the environment and generate 2D occupancy grid map. The map is in gray-scale informed the free space, wall, and unexplored space. The implementation of gmapping slam conducted with turtlebot 3 from Robotics as well as 3D simulation using gazebo.
The main application of exoskeleton robots in the modern world is focused on the services of medicine, industry, and military applications. A particularly important application is the rehabilitation ...and improvement of the quality of life for patients with central nervous system damage and spinal cord injuries. In this paper, we propose an approach to automating the movement mode change of a rehabilitation exoskeleton, depending on external conditions. The exoskeleton's movement are modelled in a simulated environment based on the robot operating system (ROS) using external sensors. Keywords: Exoskeleton; Simulation; Robot Operating System (ROS); Rehabilitation; Automation
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