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8th International Conference on Smart Cities, Internet of Things and Applications, SCIoT 2024

作者： Imani, Fatemeh Kargar, Masoud Assadzadeh, Alireza Bayani, Ali Islamic Azad University of Tabriz Department of Computer Engineering Tabriz Iran Islamic Azad University of Tabriz Robotics and Soft Technologies Research Center Tabriz Iran

ISBN: (纸本)9798350374674

In the rapidly evolving landscape of the Internet of Things (IoT), securing networked devices against malicious intrusions is of paramount importance. This paper presents a novel approach for Intelligent IoT Intrusion Detection, leveraging integrated Convolutional Neural Network (CNN) and Long Short-Term Memory (LSTM) networks, along with Statistical Filtering techniques for denoising. By synergistically combining deep learning architectures with statistical filtering, our methodology aims to enhance the accuracy and robustness of intrusion detection systems in IoT environments. Empirical evaluations on diverse datasets, including the Edge-IIoTset Dataset and CoAP-DoS Dataset, demonstrate the effectiveness of our approach, achieving competitive accuracy rates of 99.93% and 94.99% respectively. Furthermore, our model showcases promising computational efficiency, making it suitable for deployment on resource-constrained IoT devices. These results underscore the significance of our research in advancing the state-of-the-art in IoT privacy, paving the way for more resilient and adaptive intrusion detection systems. © 2024 IEEE.

关键词： Internet of things

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Collaborative Control of Aerial Robots for Inferring Human Intent from Gaze Following

Collaborative Control of Aerial Robots for Inferring Human I...

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2023 IEEE Conference on Control Technology and Applications, CCTA 2023

作者： Chipade, Vishnu S. Gilbert, Alia Harari, Daniel Panagou, Dimitra University of Michigan Department of Aerospace Engineering Ann ArborMI United States University of Michigan Department of Robotics Ann ArborMI United States Weizmann Institute of Science Weizmann Ai Center Department of Computer Science and Applied Math Israel

ISBN: (纸本)9798350335446

In an ideal human-robot collaboration, autonomous robots work side-by-side with humans in a joint workspace, often performing complementary tasks to the humans. A robotic ability to infer human intention and goals directly from human behavior will facilitate the collaboration and maximize its efficiency. In this paper, we focus on inferring which object the human wants picked up next, based on what the human is looking at, by visually following the human gaze and head orientation. We develop a coordination protocol for a team of aerial robots to extract effective human head and gaze cues. The aerial robots are controlled to navigate around the human and collect data that improves the detection of the human's gaze and hence the intended object to be picked up. The effectiveness of the approach is shown using simulations in airSim, a photo-realistic simulator. © 2023 IEEE.

关键词： Antennas

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Novel Recoverable Audio Mosaic Technique Using Segmental and Hierarchical Permutations

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IEEE Internet of Things Journal 2024年第3期11卷 4857-4871页

作者： Tsai, Morris C.-H. Huang, Scott C.-H. Wu, Hsiao-Chun National Tsing Hua University Department of Electrical Engineering Hsinchu30013 Taiwan Louisiana State University School of Electrical Engineering and Computer Science Baton RougeLA70803 United States Yuan Ze University Innovation Center for AI Applications Chungli32003 Taiwan

Mosaic is a prevalent signal-processing approach to hide or protect critical information from users. The conventional mosaic schemes simply abolish or add artificial noise to the original signal content a sender wants to conceal. Thus, they are not recoverable simply by use of a key which can be represented as a very short sequence compared to the concealed signal content. In this work, we extend our previous effort in recoverable image mosaicing to design a novel audio mosaicing approach using hierarchical permutations. Besides, we establish the mathematical relationship between the popular signal-quality metric, namely, signal-to-noise ratio (SNR), and our previously proposed signal-destructuring metric, namely, Kullback-Leibler divergence of discrete cosine transform (DCT-KLD), so that the mosaicing or signal-destructuring effect in terms of DCT-KLD and the general signal-quality measure in terms of SNR can be translated into each other. As a result, one can easily judge if the mosaicked signal reaches the concealability which is equivalent to the maximum SNR to eliminate the intelligibility of an utterance. The new relationship between DCT-KLD and SNR we develop can thus be very useful to qualify an audio mosaic method without any need of human listening test. © 2014 IEEE.

关键词： Signal to noise ratio

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Design and Model Predictive Control of a Mars Coaxial Quadrotor

Design and Model Predictive Control of a Mars Coaxial Quadro...

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2022 IEEE Aerospace Conference, AERO 2022

作者： Patel, Akash Banerjee, Avijit Lindqvist, Bjorn Kanellakis, Christoforos Nikolakopoulos, George Robotics and Ai Team Lulea University of Technology Department of Computer Electrical and Space Engineering LuleaSE-97187 Sweden

ISBN: (纸本)9781665437608

Mars has been a prime candidate for planetary explo-ration of the solar system because of the science discoveries that support chances of future habitation on this planet. The Mars exploration landers and rovers have laid the foundation of our understanding of the planet's atmosphere and terrain. However, the rovers have presented limitations in terms of their pace, travers ability, and exploration capabilities from the ground and thus, one of the main field of interest for future robotic mission to Mars is to enhance the autonomy of this exploration vehicles. Martian caves and lava tubes like terrains, which consists of uneven ground, poor visibility and confined space, makes it impossible for wheel based rovers to navigate through these areas. In order to address these limitations and advance the exploration capability in a Martian terrain, this article presents the design and control of a novel coaxial quadrotor Micro Aerial Vehicle (MAV). As it will be presented, the key contributions on the design and control architecture of the proposed Mars coaxial quadrotor, are introducing an alternative and more enhanced, from a control point of view concept, when compared in terms of autonomy to Ingenuity. Based on the presented design, the article will introduce the mathematical modelling and automatic control framework of the vehicle that will consist of a linearised model of a co-axial quadrotor and a corresponding Model Pre-dictive Controller (MPC) for the trajectory tracking. Among the many models, proposed for the aerial flight on Mars, a reliable control architecture lacks in the related state of the art. The MPC based closed loop responses of the proposed MAV will be verified in different conditions during the flight with additional disturbances, induced to replicate a real flight scenario. For the model validation purpose, the Mars coaxial quadrotor is sim-ulated inside a Martian environment with related atmospheric conditions in the Gazebo simulator, which will

关键词： Controllers

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Edge ai-Driven Video Analytics: A Mobile Deep Learning Framework for Victim Detection in SAR robotics 3

Edge AI-Driven Video Analytics: A Mobile Deep Learning Frame...

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3rd FORTEI-International Conference on Electrical engineering, FORTEI-ICEE 2024

作者： Ihsan, Muhammad Putra, Karisma Trinanda Mustar, Muhamad Yusvin Setyawan, Aufa Faiz Chu, Hsueh-Ting Chen, Hsing-Chung Department of Electrical Engineering Universitas Muhammadiyah Yogyakarta Bantul Indonesia Department of Electrical Engineering Center of Artificial Intelligence and Robotics Studies Universitas Muhammadiyah Yogyakarta Bantul Indonesia Department of Computer Science and Information Engineering Asia University Taichung Taiwan

ISBN: (纸本)9798331542207

In post-disaster search and rescue (SAR) missions, it is crucial for robots to distinguish between actual victims and dummy objects, despite their similar characteristics. Edge video analytics have demonstrated exceptional performance in such missions, however, the trade-off between high-performing deep learning models and computational complexity often results in inadequate computational efficiency for SAR robotics. This study tackles this challenge by deploying a deep learning (DL) algorithm, i.e., MobileNet Single Shot Detector (SSD), specifically tailored for embedded systems, to perform object detection and classification tasks on lab-scale SAR robots. The proposed algorithm is developed in Python and implemented on a low-powered edge computing device. The effectiveness of the proposed algorithm in object localization is highlighted by its mAP score of 0.6247 and an average IoU of 0.9036. Experimental tests using a confusion matrix showed that the model accurately predicted 42 dummy objects and 43 victim dolls. The model achieved an overall accuracy of 89.47%, with a precision of 1.0, a recall of 0.8947, and an F1 Score of 0.9444. Real-time testing confirmed the model’s robust performance, maintaining high accuracy and a stable frame rate of 47 FPS. These findings corroborate the efficacy of the MobileNet SSD algorithm in reliably detecting and differentiating objects within embedded SAR robotic operations. © 2024 IEEE.

关键词： Mobile edge computing

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Revisiting Kernel Attention with Correlated Gaussian Process Representation 40

Revisiting Kernel Attention with Correlated Gaussian Process...

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40th Conference on Uncertainty in Artificial Intelligence, Uai 2024

作者： Bui, Long Minh Huu, Tho Tran Dinh, Duy Nguyen, Tan Minh Hoang, Trong Nghia FPT Software AI Center Department of Mathematics National University of Singapore Singapore School of Electrical Engineering and Computer Science Washington State University United States

Transformers have increasingly become the de facto method to model sequential data with state-of-the-art performance. Due to its widespread use, being able to estimate and calibrate its modeling uncertainty is important to understand and design robust transformer models. To achieve this, previous works have used Gaussian processes (GPs) to perform uncertainty calibration for the attention units of transformers and attained notable successes. However, such approaches have to confine the transformers to the space of symmetric attention to ensure the necessary symmetric requirement of their GP’s kernel specification, which reduces the representation capacity of the model. To mitigate this restriction, we propose the Correlated Gaussian Process Transformer (CGPT), a new class of transformers whose self-attention units are modeled as cross-covariance between two correlated GPs (CGPs). This allows asymmetries in attention and can enhance the representation capacity of GP-based transformers. We also derive a sparse approximation for CGP to make it scale better. Our empirical studies show that both CGP-based and sparse CGP-based transformers achieve better performance than state-of-the-art GP-based transformers on a variety of benchmark tasks. © 2024 Proceedings of Machine Learning Research. All rights reserved.

关键词： Distribution transformers

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Multi-Agent Path Finding Using Conflict-Based Search and Structural-Semantic Topometric Maps

arXiv

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arXiv 2025年

作者： Fredriksson, Scott Bai, Yifan Saradagi, Akshit Nikolakopoulos, George Robotics and AI group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Sweden

As industries increasingly adopt large robotic fleets, there is a pressing need for computationally efficient, practical, and optimal conflict-free path planning for multiple robots. Conflict-Based Search (CBS) is a popular method for multi-agent path finding (MAPF) due to its completeness and optimality;however, it is often impractical for real-world applications, as it is computationally intensive to solve and relies on assumptions about agents and operating environments that are difficult to realize. This article proposes a solution to overcome computational challenges and practicality issues of CBS by utilizing structural-semantic topometric maps. Instead of running CBS over large grid-based maps, the proposed solution runs CBS over a sparse topometric map containing structural-semantic cells representing intersections, pathways, and dead ends. This approach significantly accelerates the MAPF process and reduces the number of conflict resolutions handled by CBS while operating in continuous time. In the proposed method, robots are assigned time ranges to move between topometric regions, departing from the traditional CBS assumption that a robot can move to any connected cell in a single time step. The approach is validated through real-world multi-robot path-finding experiments and benchmarking simulations. The results demonstrate that the proposed MAPF method can be applied to real-world non-holonomic robots and yields significant improvement in computational efficiency compared to traditional CBS methods while improving conflict detection and resolution in cases of corridor symmetries. Copyright © 2025, The Authors. All rights reserved.

关键词： Continuous time systems

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Curriculum-based Sample Efficient Reinforcement Learning for Robust Stabilization of a Quadrotor

arXiv

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arXiv 2025年

作者： Mauricio, Fausto Suarez, Lagos Saradagi, Akshit Sumathy, Vidya Kotpalliwar, Shruti Nikolakopoulos, George Robotics and AI group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Sweden

This article introduces a curriculum learning approach to develop a reinforcement learning-based robust stabilizing controller for a Quadrotor that meets predefined performance criteria. The learning objective is to achieve desired positions from random initial conditions while adhering to both transient and steady-state performance specifications. This objective is challenging for conventional one-stage end-to-end reinforcement learning, due to the strong coupling between position and orientation dynamics, the complexity in designing and tuning the reward function, and poor sample efficiency, which necessitates substantial computational resources and leads to extended convergence times. To address these challenges, this work decomposes the learning objective into a three-stage curriculum that incrementally increases task complexity. The curriculum begins with learning to achieve stable hovering from a fixed initial condition, followed by progressively introducing randomization in initial positions, orientations and velocities. A novel additive reward function is proposed, to incorporate transient and steady-state performance specifications. The results demonstrate that the Proximal Policy Optimization (PPO)based curriculum learning approach, coupled with the proposed reward structure, achieves superior performance compared to a single-stage PPO-trained policy with the same reward function, while significantly reducing computational resource requirements and convergence time. The curriculum-trained policy’s performance and robustness are thoroughly validated under random initial conditions and in the presence of disturbances. © 2025, CC BY.

关键词： Curricula

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Resiliency in Space Autonomy: a Review

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Current robotics Reports 2023年第1期4卷 1-12页

作者： Banerjee, Avijit Mukherjee, Moumita Satpute, Sumeet Nikolakopoulos, George Robotics and AI Department of Computer science Electrical and Space Engineering Luleå University of Technology Luleå Sweden

The article provides an extensive overview on the resilient autonomy advances made across various missions, orbital or deep-space, that captures the current research approaches while investigating the possible future direction of resiliency in space autonomy. In recent years, the need for several automated operations in space applications has been rising, that ranges from the following: spacecraft proximity operations, navigation and some station keeping applications, entry, decent and landing, planetary surface exploration, etc. Also, with the rise of miniaturization concepts in spacecraft, advanced missions with multiple spacecraft platforms introduce more complex behaviours and interactions within the agents, which drives the need for higher levels of autonomy and accommodating collaborative behaviour coupled with robustness to counter unforeseen uncertainties. This collective behaviour is now referred to as resiliency in autonomy. As space missions are getting more and more complex, for example applications where a platform physically interacts with non-cooperative space objects (debris) or planetary bodies coupled with hostile, unpredictable, and extreme environments, there is a rising need for resilient autonomy solutions. Resilience with its key attributes of robustness, redundancy and resourcefulness will lead toward new and enhanced mission paradigms of space missions.

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Improving the Efficacy of Binary Communication Security in Communication Networks of Smart Cities

Improving the Efficacy of Binary Communication Security in C...

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3rd International Conference on Internet of Things, Communication and Intelligent Technology, IoTCIT 2024

作者： Salama, Ramiz Al-Turjman, Fadi Department of Computer Engineering AI and Robotics Institute Research Center for AI and IoT Near East University Mersin 10 Nicosia Turkey Artificial Intelligence Software and Information Systems Engineering Departments AI and Robotics Institute Near East University Mersin 10 Nicosia Turkey

ISBN: (纸本)9789819627660

Recently, smart cities have become more and more popular as a way to enhance society and the standard of living for its people. These are the results of the increased social and economic prospects that the advancement of information and communication technology (ICT) has brought about. But there are certain issues with our presumptions about privacy and security. The usage of cellphones and other technologies has already enhanced people’s engagement and sense of connection. Gadgets, smart energy meters, and security appliances are commonplace these days. The Internet of Things will soon be fully connected to homes, public spaces, healthcare systems, and other social institutions. In this work, we improve the security performance of communication networks in smart cities by implementing a novel framework and scheme to guarantee strong data secrecy and authentication. The smart city system can set up shared session key procedures and mutual authentication to secure a two-way communication channel between the control center and smart meters. Our comprehensive simulation was used to test and evaluate the security performance of the smart city communication network both with and without our suggested technique. Throughput, latency, load, and traffic received packets per second were all measured. The resources available in our suggested solution were further limited by the fact that we used a network intrusion detection system (NIDS) and a man-in-the-middle (MITM) attack to evaluate and validate the security criteria. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Network intrusion

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