A Fuzzy Based Accessibility Model for Disaster Environment

Balan, Karthika; Manuel, Melvin P.; Faied, Mariam; Krishnan, M.; Santora, Michael

doi:10.1109/icra.2019.8793602

Cited by 16 publications

(12 citation statements)

References 4 publications

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“…The LoRa transceiver which is a part of the robot, receives this information and decrypts it. Once the robot receives the location information, the same will be given as input to the FISVFH navigation algorithm [22]. The FISVFH drives the robot to the required location by avoiding all the obstacles along its path.…”

Section: Contributionsmentioning

confidence: 99%

“…As introduced in Sect. 1.1, FISVFH is a navigation algorithm suitable for search and rescue (SAR) robots to navigate to a desired location through the devastated environment without relying on a pre-built map [22]. Once the robot started navigating to its desired location, the LoRa module on the robot will change it's mode from Mode-1 (RRx) to Mode-2 (RTx).…”

Section: Operations Performed On Lora Device During Mode-1 (Rrx)mentioning

confidence: 99%

“…A Pioneer-P3Dx robot is used for evaluating the performance of the control device and the developed Cryptographic protocol in a real time lab setup. The robot uses a predeveloped navigation algorithm named Fuzzy Inference System Vector Field Histogram (FISVFH) for navigating through a devastated environment [22]. The reason for choosing this algorithm is due to its capability to drive the robot to its assigned destination quickly and safely without depending on a pre-build map.…”

Section: Introductionmentioning

confidence: 99%

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Implementing cryptography in LoRa based communication devices for unmanned ground vehicle applications

Manuel

Daimi

2021

SN Appl. Sci.

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In this study, a Long Range (LoRa) based bidirectional secured communication link for controlling and monitoring the robots from a remote location is proposed. The security features and structure of the LoRa is build upon the standard protocol called LoRa wide area networks (LoRaWAN). To take advantage of these features, LoRa devices/end modules need to be connected to a network server through a LoRa gateway. However, for certain military scenarios like war zones, terrorist attack sites, disaster sites etc., the availability of standard network cannot be guaranteed, and therefore, the security features available with LoRaWAN protocol cannot be guaranteed. To overcome this critical limitation, a LoRa based secured device for establishing a bidirectional communication link between the base station and the robots without relying on any network is proposed. To secure the exchanged data, a cryptographic protocol is developed, and confidentiality, authenticity and integrity of the transmitted data between the base station and the robot are ensured. The protocol is then implemented with a pair of LoRa devices and its functionality is tested from a remote location by controlling and monitoring a Pioneer-P3Dx robot from a distance of 1.2 miles. The test shows that the proposed cryptographic protocol can securely control and track the robot from a remote location.

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Section: Contributionsmentioning

confidence: 99%

Section: Operations Performed On Lora Device During Mode-1 (Rrx)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Implementing cryptography in LoRa based communication devices for unmanned ground vehicle applications

Manuel

Daimi

2021

SN Appl. Sci.

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“…The leader robot dynamically navigates to its destination using Fuzzy Inference System Vector Field Histogram (FISVFH) navigation algorithm [15,16]. FISVFH navigation algorithm is capable of navigating SAR robots through a cluttered environment, without relying on a pre-determined map.…”

Section: Robot Platoonsmentioning

confidence: 99%

Robot Platooning Strategy for Search and Rescue Operations

Manuel

Faied

Krishnan

et al. 2021

Intel Serv Robotics

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Major abrupt-onset cataclysmic events such as earthquakes, storms, floods, etc., typically damage infrastructure, cause injury, trap numerous individuals, and result in a massive death toll. A prompt life-saving response is required to rescue those who are marooned or trapped under debris. The difference between life and death can be a matter of how fast search and rescue attempts are carried out. On the other hand, these life-saving search and rescue operations are faced with real-time dynamic changes in the disaster site, in addition to possible communication network failure. This paper proposes a novel vision-based robot platooning algorithm that is capable of maneuvering teams of search and rescue robots in a dynamic disaster site, under the worst-case scenario of no available communication network. The algorithm was tested to drive teams of Pioneer-P3Dx and Jackal robots in five real different challenging disaster sites. The proposed algorithm showed enough robustness in all experiments to adapt to the dynamic environmental changes and drove the platoon to the desired destinations even when the team leader was lost.

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“…Fuzzy sets and fuzzy logic [25] have been developed to deal with vagueness and uncertainty in a inference process of a intelligent system such as knowledge-based system, expert system or logical control system [5,8,10,18].…”

Section: Fuzzy-based System Parametersmentioning

confidence: 99%

A Fuzzy-Based Approach for Transmission Control of Sensory Data in Resilient Wireless Sensor Networks During Disaster Situation

Nishii

Ikeda

Barolli

2020

Lecture Notes in Networks and Systems

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Wireless sensor networks can be used for long-term operation and they can collect data effectively from huge volumes of sensed data. There are many applications of wireless sensor networks. In this paper, we propose a fuzzy-based transmission control system of sensed data for resilient wireless sensor networks in disaster situations. From the evaluation results, we found that our proposed system can reduce the transmission interval and extend the lifetime of network for disaster situations.

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A Fuzzy Based Accessibility Model for Disaster Environment

Cited by 16 publications

References 4 publications

Implementing cryptography in LoRa based communication devices for unmanned ground vehicle applications

Implementing cryptography in LoRa based communication devices for unmanned ground vehicle applications

Robot Platooning Strategy for Search and Rescue Operations

A Fuzzy-Based Approach for Transmission Control of Sensory Data in Resilient Wireless Sensor Networks During Disaster Situation

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