Abstract

This paper presents detailed mathematical modeling, controller design, and flight test results for the autonomous mission of a nonconventional fixed-wing biplane micro air vehicle (MAV) called Skylark having span and chord length within 150 mm. Although numerous fixed-wing MAV designs are reported in the open literature, an MAV’s reliable autonomous flight is still a challenge. The primary difficulties in performing the autonomous mission of fixed-wing MAV are system integration within the weight and power budget, center of gravity (CG) management, and flight controller design for fast dynamics. In this paper, the key challenges are addressed by using the higher payload capacity of Skylark, suitable selection and design of avionics components, and design of controller after detailed development of the mathematical model, including the additional effect of propeller wash and motor countertorque. An …

Abstract

In this paper, we solve an optimal consensus control problem of maximizing the state-dependent communi- cation connectivity during a multi-agent consensus dynamics. A proportional-derivative type consensus controller is leveraged to drive agents into a symmetric formation. The asymptotic stability of the closed-loop system dynamics is established using Lyapunov theory, which helps us to deduce an intuitive time-varying gain profile based on a sufficient condition for convergence. Further, a Model Predictive Control approach is adopted to minimize a quadratic cost over a finite prediction horizon by adjusting the controller gains, such that the optimal connectivity is attained on the way with less control efforts, while handling constraints to agents’ states, inputs, turn-rates and disturbances injected into agent velocities. Simulation results with time-varying controller gains demonstrate the impact of our proposed technique

Abstract

A detailed design approach undertaken in the development of “Skylark” is presented in this paper. “Skylark” is a non-conventional fixed-wing biplane Micro Air Vehicle (MAV) with a wingspan and chord length within 150 mm. It is specially designed with the ability to host onboard vision-assisted autonomous navigation systems. Fixed-wing MAV with capabilities of vision assisted autonomous navigation is not reported in the open literature. To stay within the maximum dimensional constraint, flying wing configuration with a low aspect ratio is preferred for MAV design, and therefore, the stability is inadequate due to lower static margin when compared to bigger Unmanned Aerial Vehicles (UAVs). In this paper, the novel design strategy addresses the major challenges such as high payload-carrying capacity, stability, and onboard processing required for vision-assisted autonomous navigation. The higher payload …

Abstract

As compared to conventional adaptive control, robust adaptive control aims to provide robustness against unmodeled dynamics, coupling effects, and other endogenous and exogenous disturbances. Robust adaptive control has been an active research area over more than three decades, and has flourished in many application domains. Despite the advances, some bottlenecks still need to be circumvented for further progressing in the field. This special issue collects recent advances in robust adaptive control from theoretical and application perspectives. Theoretical aspects in robust adaptive control addressed in this special issue are:• Relaxing the persistence of excitation (PE) condition, standard in adaptive control and estimation: Katuyar, Roy, and Bhasin propose a novel condition, called finite persistence excitation (f-PE), milder than PE in terms of excitation requirement and online verifiability.

Abstract

We present a joint multi-robot trajectory optimizer that can compute trajectories for tens of robots in aerial swarms within a small fraction of a second. The computational efficiency of our approach is built on breaking the per-iteration computation of the joint optimization into smaller, decoupled sub-problems and solving them in parallel through a custom batch optimizer. We show that each of the sub-problems can be reformulated to have a special Quadratic Programming structure, wherein the matrices are shared across all the problems and only the associated vector varies. As a result, the batch solution update rule reduces to computing just large matrix-vector products which can be trivially accelerated using GPUs. We validate our optimizer’s performance in difficult benchmark scenarios and compare it against existing state-of-the-art approaches. We demonstrate remarkable improvements in computation time its scaling with respect to the number of robots. Moreover, we also perform better in trajectory quality as measured by smoothness and arc-length metrics.

Abstract

Many commodity sensors that measure the robot and dynamic obstacle’s state have non-Gaussian noise characteristics. Yet, many current approaches treat the underlying uncertainty in motion and perception as Gaussian, primarily to ensure computational tractability. On the other hand, existing planners working with non-Gaussian uncertainty do not shed light on leveraging distributional characteristics of motion and perception noise, such as bias for efficient collision avoidance.This paper fills this gap by interpreting reactive collision avoidance as a distribution matching problem between the collision constraint violations and Dirac Delta distribution. To ensure fast reactivity in the planner, we embed each distribution in Reproducing Kernel Hilbert Space and reformulate the distribution matching as minimizing the Maximum Mean Discrepancy (MMD) between the two distributions. We show that evaluating the MMD …

Abstract

Modern autonomous vehicles (AVs) often rely on vision, LIDAR, and even radar-based simultaneous localization and mapping (SLAM) frameworks for precise localization and navigation. However, modern SLAM frameworks often lead to unacceptably high levels of drift (i.e., localization error) when AVs observe few visually distinct features or encounter occlusions due to dynamic obstacles. This paper argues that minimizing drift must be a key desiderata in AV motion planning, which requires an AV to take active control decisions to move towards feature-rich regions while also minimizing conventional control cost. To do so, we first introduce a novel data-driven perception module that observes LIDAR point clouds and estimates which features/regions an AV must navigate towards for drift minimization. Then, we introduce an interpretable model predictive controller (MPC) that moves an AV toward such feature-rich regions while avoiding visual occlusions and gracefully trading off drift and control cost. Our experiments on challenging, dynamic scenarios in the state-ofthe-art CARLA simulator indicate our method redu

Abstract

The communication in Intelligent Transportation Systems (ITS) suffers from various security and privacy related issues as several attacks, like replay, man-in-the-middle (MiTM), impersonation, data leakage and unauthorised data update attacks can be mounted by an adversary. Therefore, we need a robust security mechanism to sort out such issues, which can be further enhanced through the use of mechanism of blockchain technology. In this paper, we propose a blockchain-based secure data exchange and storage framework for the ITS (in short, we call it as BDESF-ITS). We conduct the security analysis of the BDESF-ITS to prove its robustness against various possible attacks. The practical implementation of the BDESF-ITS is also carried out to observe its behaviour with the real world settings.

Abstract

With the widespread use of Internet of Things (IoT) in various applications and several security vulnerabilities reported in them, the security requirements have become an integral part of an IoT system. Authentication and access control are the two principal security requirements for ensuring authorized and restricted accesses to limited and essential resources in IoT. The built-in authentication mechanism in IoT devices is not reliable, because several security vulnerabilities are revealed in the firmware implementation of authentication protocols in IoT. On the other hand, the current authentication approaches for IoT that are not firmware are vulnerable to some security attacks prevalent in IoT. Moreover, the recent access control approaches for IoT have limitations in context-awareness, scalability, interoperability, and security. To mitigate these limitations, there is a need for a robust authentication and access control …

Abstract

Ransomware is a type of malicious program or soft- ware that encrypts the contents on a hard disc and prevents the users from accessing them unless they pay an amount (called a ransom). Most of the organizations, such as financial institutes and healthcare sectors (i.e., smart healthcare) are targeted by ransomware attacks. Ransomware assaults are among the most frightening types of cyber-attacks, and they are not confined to a specific sector or the countries. Blockchain is a tamper-proof tech- nology, which is more secure, robust and decentralized in nature. Features of blockchain can add more security for detection and mitigation of ransomware more effectively. In this paper, we pro- pose a new blockchain-enabled security framework to detect and defend the ransomware attacks for smart healthcare (in short, BSFR-SH). The conducted security analysis proves the security of the proposed BSFR-SH against the ransomware attacks. The performance of BSFR-SH is significantly better than the other similar existing mechanisms as it achieves better accuracy and F1-score than other compared mechanisms. Furthermore, the practical demonstration of BSFR-SH is provided to estimate the impact on important performance parameters. Index Terms—Ransomware, smart healthcare, intrusion detec- tion, machine learning, blockchain