UWB Role Allocation with Distributed Ledger Technologies for Scalable Relative Localization in Multi-Robot Systems

Moron, Paola Torrico; Salimi, Salma; Queralta, Jorge Peña; Westerlund, Tomi

doi:10.1109/rose56499.2022.9977431

Cited by 9 publications

(6 citation statements)

References 36 publications

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“…Salimi et al describe the integration of ROS 2 with the Hyperledger Fabric blockchain, emphasizing the importance of enabling secure data aggregation and control in autonomous robotic systems [8]. Morón et al integrated blockchain technology with the UWB positioning system to improve the security and credibility of multi-robot systems [9]. In the study by Fu et al, the application of Hyperledger Fabric blockchain technology for remotely operated mobile robots was explored, with a particular focus on integrating this technology with ROS 2 systems [10].…”

Section: Related Workmentioning

confidence: 99%

PrivShieldROS: An Extended Robot Operating System Integrating Ethereum and Interplanetary File System for Enhanced Sensor Data Privacy

Wang,

Chen,

Zheng

et al. 2024

Sensors

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With the application of robotics in security monitoring, medical care, image analysis, and other high-privacy fields, vision sensor data in robotic operating systems (ROS) faces the challenge of enhancing secure storage and transmission. Recently, it has been proposed that the distributed advantages of blockchain be taken advantage of to improve the security of data in ROS. Still, it has limitations such as high latency and large resource consumption. To address these issues, this paper introduces PrivShieldROS, an extended robotic operating system developed by InterPlanetary File System (IPFS), blockchain, and HybridABEnc to enhance the confidentiality and security of vision sensor data in ROS. The system takes advantage of the decentralized nature of IPFS to enhance data availability and robustness while combining HybridABEnc for fine-grained access control. In addition, it ensures the security and confidentiality of the data distribution mechanism by using blockchain technology to store data content identifiers (CID) persistently. Finally, the effectiveness of this system is verified by three experiments. Compared with the state-of-the-art blockchain-extended ROS, PrivShieldROS shows improvements in key metrics. This paper has been partly submitted to IROS 2024.

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Section: Related Workmentioning

confidence: 99%

PrivShieldROS: An Extended Robot Operating System Integrating Ethereum and Interplanetary File System for Enhanced Sensor Data Privacy

Wang,

Chen,

Zheng

et al. 2024

Sensors

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“…The custom layer meta-drone for the Yocto build system includes a Linux kernel based on Linux Yocto 5.2 with several patches. 9 The layer meta-drone also contains configuration segments that are combined to form the defconfig for the kernel, which results in the necessary kernel modules being compiled and installed, and the ACPI configuration to communicate the location and configuration of all the devices to the Linux kernel drivers.…”

Section: Softwarementioning

confidence: 99%

“…To the best of our knowledge, no commercial drone (whether open or fully proprietary) comes pre-equipped with the ability to identify and track the poses of nearby drones using only onboard sensors and computation. However, sensing technologies are advancing quickly, for example using ultra-wideband (UWB) localization [3], [7]- [9] or visual localization supported by machine learning [10]- [12]. UWB state estimation is very promising, and advances are being made to address outstanding challenges, such as insufficient accuracy, complicated initialization, and consistency issues in UWB-odometry state estimation [7]; and scalability issues related to communication throughput in UWB-odometry or UWB-visual-inertial state estimation, especially for 2D pose estimation [8].…”

Section: Introductionmentioning

confidence: 99%

“…https://www.yoctoproject.org9 Patches are an upstream version of PCA954x I2C multiplexer driver for compatibility with ACPI (Advanced Configuration and Power Interface), a workaround for USB video class (UVC) bandwidth calculation (so that multiple cameras can operate on the same bus), and an update to the VL53l0X ToF driver to incorporate sampling based on the industrial inputoutput (IIO) kernel API 10. https://github.com/iridia-ulb/fernbedienung-python VOLUME 4, 2016 9 This article has been accepted for publication in IEEE Access.…”

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confidence: 99%

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An Open-Source UAV Platform for Swarm Robotics Research: Using Cooperative Sensor Fusion for Inter-Robot Tracking

Oğuz,

Heinrich,

Allwright

et al. 2024

IEEE Access

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In this work, we present an open-source UAV platform for research in swarm robotics. In swarm robotics, groups of robots collaborate using local interactions and collectively solve tasks beyond an individual robot's capabilities. Individual robots must have onboard processing, communication, and sensing capabilities to autonomously react to their neighbors and immediate environment. Most research involving UAVs in swarm robotics presents only simulation results, while key landmark studies with real UAV swarms use UAV platforms that were custom-built for the respective study. One important reason for this is that no commercial UAV platform comes pre-equipped with the ability to identify and track the positions and poses of nearby drones using only onboard sensors and computation, and in research platforms, the relevant sensing technologies are currently under development. Our aim is to provide a platform that allows swarm robotics researchers to test their algorithms on real UAVs, without having to develop their own custom-built UAVs or to wait until more advanced sensing technology is ready off-theshelf. We provide a well-documented, entirely open-source UAV platform-S-drone (Swarm-drone)-to foster and support UAV swarm research in a laboratory environment. The S-drone uses fiducial markers in the environment and cooperative feature-level sensor fusion for inter-robot tracking to track the presence, identity, relative 2D position, and relative 2D orientation of neighboring peers. The S-drone is suitable for a wide range of contexts, supports quad-camera vision-based navigation and a variety of onboard sensing, and is extensible. It is especially suited for swarm robotics research because it can operate using strictly onboard processing and sensing without the need for global positioning systems, motion capture systems, or ground stations for off-board sensing.

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“…According to the FiRa Consortium, UWB can determine the relative position of peer devices with line of sight at up to 200 meters using the IEEE 802.15.4a standard [39]. The Consortium is adding a security extension-specified in IEEE 802.15.4z-to make it a "secure fine-ranging technology" [40]. The benefits of UWB include high-level Security, power consumption, and low cost.…”

Section: Short-range Connectivitymentioning

confidence: 99%

Security Vulnerabilities and Threats in Robotic Systems: A Comprehensive Review

Abed¹,

Al-Doori²,

Abdullah³

et al. 2023

IJSSE

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The recent digital revolution has resulted in robots being integrated more than ever into various domains, such as agriculture, healthcare, and the military. Robots are dedicated to serving, facilitating, and improving human life. However, the growing prevalence of robotics has brought to light the need for robust security measures. While unintentional accidents are inevitable, this paper focuses on the increasingly challenging problem of malicious cyber-attacks against robotic systems. One specific incident highlighting the severity of this issue occurred in 2022 when a healthcare robot was hacked, resulting in the misadministration of medication to several patients, leading to severe health complications and unnecessary loss of human lives. Such instances underscore the urgency of understanding the robotics domain's security vulnerabilities, threats, and consequences. In conclusion, this paper highlights the critical aspects of securing robotic systems in today's technologically advanced world. By identifying and analyzing the primary security vulnerabilities, this paper examines the primary security vulnerabilities, the type of application, then the impact of vulnerabilities; we can pave the way for effective security measures and ultimately ensure the safety and reliability of robotic systems.

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UWB Role Allocation with Distributed Ledger Technologies for Scalable Relative Localization in Multi-Robot Systems

Cited by 9 publications

References 36 publications

PrivShieldROS: An Extended Robot Operating System Integrating Ethereum and Interplanetary File System for Enhanced Sensor Data Privacy

PrivShieldROS: An Extended Robot Operating System Integrating Ethereum and Interplanetary File System for Enhanced Sensor Data Privacy

An Open-Source UAV Platform for Swarm Robotics Research: Using Cooperative Sensor Fusion for Inter-Robot Tracking

Security Vulnerabilities and Threats in Robotic Systems: A Comprehensive Review

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