Abstract

In this paper, we study the inherent tradeoff between the network connectivity, phase complexity and communication complexity of perfectly reliable message transmission (PRMT) problem in undirected synchronous network, tolerating a mixed adversary A^ b, t,) i who has unbounded computing power and can corrupt£(, and tf nodes in the network in Byzantine and fail-stop fashion respectively.

Abstract

The present study outlines an approach to classify forest density and to estimate canopy closure of the forest of the Andaman and Nicobar archipelago. The vector layers generated for the study area using satellite data was validated with the field knowledge of the surveyed ground control points. The methodology adopted in this present analysis is three-tiered. First, the density stratification into five zones using visual

Abstract

We consider the problem of probabilistic reliable communication (PRC) over synchronous networks modeled as directed graphs in the presence of a Byzantine adversary when players’ knowledge of the network topology is not complete. We show that possibility of PRC is extremely sensitive to the changes in players’ knowledge of the topology. This is in complete contrast with earlier known results on the possibility of perfectly reliable communication over undirected graphs where the case of each player knowing only its neighbours gives the same result as the case where players have complete knowledge of the network. Specifically, in either case,(2t+ 1)-vertex connectivity is necessary and sufficient, where t is the number of nodes that can be corrupted by the adversary [DDWY93, SKR+05]. We introduce a novel model for quantifying players’ knowledge of network topology, denoted by T K. Given a directed graph G, influenced by a Byzantine adversary that can corrupt up to any t players, we give a necessary and sufficient condition for possibility of PRC over G for any arbitrary topology knowledge T K. It follows from our main characterization theorem that knowledge of up to d=⌊ n− 2t

Abstract

We address the problem of message authentication in communication networks which are resource constrained or are performance bound. Recent research has focused on development of symmetric key protocols for authentication in such networks. In these protocols, the sender generates a pool of keys -used to sign the messages, and distributes a different subset of keys -used to verify the signatures, to each user. However, in these protocols, users can collude to combine their keys and impersonate the sender by generating the sender signatures. In this work, we describe a family of collusion resistant symmetric key distribution protocols for authentication which address the problem of collusion. We show that the collusion resistance achieved using our protocols is practical (and hence, sufficient) for networks whose communication diameter is known or is within fixed bounds. Furthermore, we show that some existing protocols in literature are members of our family of protocols.

Abstract

This paper focuses on anti-magic labellings of planar graphs of type (a, b, c) introduced by Lih (Util. Math. 24 (1983), 165–197). We show that a certain class of planar graphs defined using the complete graphs and a class of planar graphs defined using the complete bipartite graphs are (1, 1, 0) and (1, 1, 1)-anti-magic under certain mild conditions.

Abstract

This paper deals with the tracking and following of a person with a camera mounted mobile robot. A modified energy based optical flow approach is used for motion segmentation from a pair of images. Further a spatial relative veolcity based filering is used to extract prominently moving objects. Depth and color information are also used to robustly identify and follow a person.

Abstract

This paper explains how to singularize a robot to a unique hypothesis state from a state of multiple hypotheses. This it does by computing a path whose expected distance is minimum from a tree where each path to the leaf from the root results in a singular hypothesis. At various nodes of the tree the number of hypotheses is reduced as it proceeds down from the root. The nodes of the tree are computed as the best locations to move from an earlier higher hypotheses state. They are either frontier regions or a direction of traversal that result in reduction of hypotheses from an earlier multi hypotheses state. The method has been tested robustly in various simulation situations and its efficacy confirmed.

Abstract

To improve the mobility of wheeled robots traversing on and uneven terrain having slopes in all three orthogonal directions is the primary focus of our research. Past research on ‘all terrain vehicles’,[1],[2], was focused on developing mechanical suspension systems which could improve terrain adaptability and locomotion. Consequently control algorithms were developed for posture stability of the vehicle [3],[4]. Shrimp robots [1] and Rocky rovers [2] are terrain vehicles with passive suspension systems which have excellent terrain adaptability and ability to negotiate terrains having discontinuities that are higher than the wheel radius. But mobility and stability of such vehicles is not guaranteed. Thus for such conditions Sreenivasan and Waldron [4] developed vehicles called Wheeled and Actively Articulated Vehicles

Abstract

This paper presents a novel real-time algorithm to sequentially solve the triangulation problem. The problem addressed is estimation of 3D point coordinates given its images and the matrices of the respective cameras used in the imaging process. The algorithm has direct application to real time systems like visual SLAM. This article demonstrates the application of the proposed algorithm to the mapping problem in visual SLAM. Experiments have been carried out for the general triangulation problem as well as the application to visual SLAM. Results show that the application of the proposed method to mapping in visual SLAM outperforms the state of the art mapping methods.

Abstract

We present a method for finding paths for multiple unmanned air vehicles (UAVs) such that the sum over their lengths is minimum as they cover a 3D terrain (represented as height fields). The paths are constrained to lie beneath an exposure surface to ensure stealth from enemy outposts. The exposure surface is also computed as a height field. The algorithm greedily clusters the terrain such that gain in visibility per distance would be higher for intra-cluster points than points across clusters. Paths generated on clusters formed by such a per distance visibility metric are reduced by more than 25% over other related decoupled methods. The method is extended to cover terrains with partial visibilities. The advantage of the coupled metric extends under constrained visibility also. We again show performance gain by comparing with an existing decoupled algorithm that solves a similar problem of minimum distance terrain coverage with constrained visibility. The paper reveals that decomposing the terrain based on visibility first and then distance is always better than the other way round to cover the terrain in shorter distances.