@article {2473, title = {Distributed motion misbehavior detection in teams of heterogeneous aerial robots}, journal = {Robotics and Autonomous Systems information}, volume = {74 part A}, year = {2015}, month = {12/2015}, pages = {30-39}, abstract = {

This paper addresses the problem of detecting possible misbehavior in a group of autonomous mobile robots, which coexist in a shared environment and interact with each other and coordinate according to a set of common\ interaction rules. Such rules specify what actions each robot is allowed to perform in order to interact with the other members of the group. The rules are distributed, i.e., they can be evaluated only starting from the knowledge of the individual robot and the information the robot gathers from neighboring robots. We consider\ misbehaving\ those robots which, because of either spontaneous failures or malicious tampering, do not follow the rules and whose behavior thus deviates from the nominal assigned one. The main contribution of the paper is to provide a methodology to detect such misbehavior by observing the congruence of actual behavior with the assigned rules as applied to the actual state of the system. The presented methodology is based on a consensus protocol on the events observed by robots. The methodology is fully distributed in the sense that it can be performed by individual robots based only on the local available information, it has been theoretically proven and validated with experiments involving real aerial heterogeneous robots.

}, keywords = {Embedded Control, Robotics}, doi = {10.1016/j.robot.2015.06.008}, url = {http://www.sciencedirect.com/science/article/pii/S0921889015001360}, author = {S. Martini and D. Di Baccio and F. Alarc{\`o}n-Romero and A. Viguria-Jim{\'e}nez and L. Pallottino and G. Dini and A. Ollero} } @article {1289, title = {Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network}, journal = {SENSORS}, volume = {12}, year = {2012}, pages = {1967{\textendash}1989}, keywords = {Embedded Control, Robotics}, issn = {1424-8220}, doi = {10.3390/s120201967}, url = {http://dx.medra.org/10.3390/s120201967}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @conference {2324, title = {Neighbourhood Monitoring for Decentralised Coordination in Multi-Agent Systems: A Case-Study}, booktitle = {IEEE Symposium on Computers and Communications}, year = {2011}, abstract = {

Decentralized coordination of multi-agents requires that every agent reliably and efficiently disseminates its state to neighbours
through a wireless network. If dissemination is unreliable, safety issues may ensue. Unfortunately, the broadcast service of
wireless network is efficient but unreliable (e. g., IEEE 802.11). The Neighbourhood Monitoring Protocol (NMP) [1] is an efficient
and scalable protocol that assures a reliable state dissemination between mobile agents, under some conditions of channel
utilization. NMP runs on top of IEEE 802.11. In this paper we evaluate NMP with a specific decentralized collision avoidance
algorithm based on the GRP policy [2]. The algorithm is particularly challenging because it accommodates an arbitrary number
non-holonomic agents. We show that NMP allows the system to scale well and provides a very high state delivery ratio even if it
operates on the unreliable broadcast service like 802.11. Doing so, NMP assures the correct state information to the collision
avoidance algorithm.

}, keywords = {Embedded Control, Robotics}, author = {G. Dini and Giurlanda, F. and L. Pallottino} } @conference {FMDB-NESTER09, title = {Safety and Security in Networked Robotics Systems via Logical Consensus}, booktitle = {International Workshop on Networked embedded and control system technologies: European and Russian R\&D cooperation (NESTER{\textquoteright}09)}, year = {2009}, month = {July, 2 - 5}, address = {Milan, Italy}, keywords = {Embedded Control, Robotics}, author = {S. Martini and A. Fagiolini and G. Dini and A. Bicchi} } @conference {FPVDB08, title = {Consensus-based Distributed Intrusion Detection for Multi-Robot Systems}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2008}, pages = {120 - 127}, abstract = {

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 consensus algorithm. After formulating a consensus problem over non-scalar quantities, and with a generic update function, we provide conditions for the consensus convergence and an upper bound to its transient duration. Effectiveness of the proposed solution is finally shown through simulation of a case study.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and M. Pellinacci and M. Valenti and G. Dini and A. Bicchi} } @conference {FTBD08, title = {Decentralized Deployment of Mobile Sensors for Optimal Connected Sensing Coverage}, booktitle = {Distributed Computing in Sensor Systems}, series = {Lecture Notes in Computer Science}, volume = {5067/2008}, year = {2008}, pages = {486 - 491}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

In this paper, we address the optimal connected sensing coverage problem, i.e., how mobile sensors with limited sensing capabilities can cooperatively adjust their locations so as to maximize the extension of the covered area while avoiding any internal "holes", areas that are not covered by any sensor. Our solution consists in a distributed motion algorithm that is based on an original extension of the Voronoi tessellation.

}, keywords = {Embedded Control, Robotics}, url = {http://dx.doi.org/10.1007/978-3-540-69170-9_34}, author = {A. Fagiolini and L. Tani and A. Bicchi and G. Dini} } @conference {BFDS08, title = {Tolerating Malicious Monitors in Detecting Misbehaving Robots}, booktitle = {IEEE International Workshop on Safety, Security, and Rescue Robotics}, year = {2008}, pages = {108 - 114}, address = {Tohoku University Aobayama Campus, Sendai, Japan}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and A. Bicchi and G. Dini and I. M. Savino} } @article {arz+07ejc, title = {A component-based approach to the design of networked control systems}, journal = {European Journal of Control}, volume = {13}, number = {2{\textendash}3}, year = {2007}, note = {

Invited paper

}, pages = {261-279}, abstract = {

Component-based techniques revolve around composable, reusable software objects that shield the application level software from the details of the hardware and lowlevel software implementation and vice versa. Components provide many benefits that have led to their wide adoption in software and middleware developed for embedded systems: They are well-defined entities that can be replaced without affecting the rest of the systems, they can be developed and tested separately and integrated later, and they are reusable. Clearly such features are important for the design of large-scale complex systems more generally, beyond software architectures. We propose the use of a component approach to address embedded control problems. We outline a general componentbased framework to embedded control and show how it can be instantiated in specific problems that arise in the control over/of sensor networks. Building on the middleware component framework developed under the European project RUNES, we develop a number of control-oriented components necessary for the implementation of control applications and design their integration. The paper provides the overview of the approach, discusses a real life application where the approach has been tested and outlines a number of specific control problems that arise in this application.

}, keywords = {Embedded Control, Robotics}, author = {K -E Arz{\'e}n and A. Bicchi and G. Dini and S. Hailes and K. H. Johansson and J. Lygeros and A. Tzes} } @conference {FVPDB:CDC07, title = {Decentralized Intrusion Detection for Secure Cooperative Multi-Agent Systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2007}, pages = {1553-1558}, abstract = {

In this paper we address the problem of detecting faulty behaviors of cooperative mobile agents. A novel decentralized and scalable architecture that can be adopted to realize a monitor of the agents

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and G. Valenti and L. Pallottino and G. Dini and A. Bicchi} } @booklet {FPD{\textquoteright}07, title = {Decentralized Intrusion Detection in Cooperative Multi-Agent Systems}, year = {2007}, note = {

Poster Presentation

}, month = {April}, abstract = {

We address the problem of detecting faulty behaviors of robots belonging to a multi-agent system. Our objective is to develop a scalable architecture that can be adopted to realize a completely decentralized intrusion detector monitoring the agents{\textquoteright} behavior. We want the solution to be independent from the set of {\textquoteleft}{\textquoteleft}rules{\textquoteright}{\textquoteright} describing the interaction among the agents, and from their dynamics; (non-invasive) mainly based on HW/SW components that are already present on-board of each agent. We focus on systems with decentralized cooperation schemes where cooperation is obtained by sharing a set of {\textquoteleft}{\textquoteleft}rules{\textquoteright}{\textquoteright} by which each agent plans its next {\textquoteleft}{\textquoteleft}action{\textquoteright}{\textquoteright} and where some of the agents may act not according to the rules due to spontaneous failure, tampering, or malicious introduction.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and L. Pallottino and G. Dini} } @conference {FVPDB:CASE07, title = {Local Monitor Implementation for Decentralized Intrusion Detection in Secure Multi-Agent Systems}, booktitle = {3rd IEEE Conference on Automation Science and Engineering}, year = {2007}, pages = {454{\textendash}459}, abstract = {

This paper focuses on the detection of misbehaving 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 possibly different independent tasks, but cooperate to guarantee the entire system

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and G. Valenti and L. Pallottino and G. Dini and A. Bicchi} } @conference {DFPSSDB06, title = {A scalable platform for safe and secure decentralized traffic management of multiagent mobile systems}, booktitle = {ACM Workshop on Real-World Wireless Sensor Networks}, year = {2006}, abstract = {

In this paper we describe the application of wireless sensor networking techniques to address the realization of a safe and secure decentralized traffic management system. We consider systems of many heterogeneous autonomous vehicles moving in a shared environment. Each vehicle is assumed to have different and possibly unspecified tasks, but they cooperate to avoid collisions. We are interested in designing a scalable architecture capable of accommodating a very large and dynamically changing number of vehicles, guaranteeing their safety (i.e., collision avoidance), the achievement of their goals, and security against potential adversaries. By properly distributing and revoking cryptographic keys we are able to protect communications from an external adversary as well as to detect non-cooperative, possibly malicious vehicles and trigger suitable countermeasures. In our architecture, scalability is obtained by decentralization, i.e. each vehicle is regarded as an autonomous agent capable of processing information concerning its own state and the state of only a fixed, small number of {\textquoteleft}{\textquoteleft}neighboring{\textquoteright}{\textquoteright} agents. Ad-hoc wireless sensor networks are employed to provide support for this architecture.

}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and A. Fagiolini and I. Savino and L. Pallottino and R. Schiavi and G. Dini and A. Bicchi} } @conference {DSSBG06, title = {Security and Advanced Control Issues in a Robotic Platform for Monitoring and Relief}, booktitle = {Proc. of EWSN 2006 February 13-15, ETH Zurich}, year = {2006}, abstract = {

This paper provides an architectural overview and a first implementation of an heterogeneous agent network composed by mobile robots of di

}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and I. M. Savino and R. Schiavi and A. Bicchi and G. Dini} }