The Experts below are selected from a list of 7338 Experts worldwide ranked by ideXlab platform
Sonia Martinez - One of the best experts on this subject based on the ideXlab platform.
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Server-Assisted Distributed Cooperative Localization Over Unreliable Communication Links
IEEE Transactions on Robotics, 2018Co-Authors: Solmaz S. Kia, Jonathan Hechtbauer, David Gogokhiya, Sonia MartinezAbstract:We consider the problem of cooperative localization (CL) via interrobot measurements for a team of networked robots with limited on-board resources. We propose a novel algorithm in which each robot localizes itself in a global coordinate frame by local dead reckoning, and opportunistically corrects its pose estimate whenever it receives a relative measurement Update Message from a server. The computation and storage cost per robot in terms of the size of the team is of order $O(1)$ , and the robots are only transmitting information when they are involved in a relative measurement. The server also only needs to compute and transmit Update Messages when it receives an interrobot measurement. Under perfect communication, our algorithm is an alternative implementation of a joint CL for the team via an extended Kalman filter. However, perfect communication is not a hard constraint. We show that our algorithm is robust to communication failures, with formal guarantees that the Updated estimates of the robots receiving the Update Message are of minimum variance in a first-order approximate sense at that given timestep. We demonstrate the performance of our algorithm in simulation and experiments.
Li Feng - One of the best experts on this subject based on the ideXlab platform.
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Mechanism of Binding Update Message Authentication Based on CGA Algorithm
Computer Engineering, 2008Co-Authors: Li FengAbstract:In Mobile IPv6 network, the location of Mobile Node(MN) is obtained by the implementation of binding Update. During the course, thesecurity disposal of binding Update Message is the key point of the research. The purpose of CGA algorithm is to prevent stealing and spoofing ofexisting IPv6 addresses. In this paper, based on the research of CGA, the rationale of CGA is applied in the disposal of binding Update Message. Theproblem of care-of-address acquirement and authentication is solved effectually. And the security level of disposing binding Update Message isimproved.
Du Jian-jun - One of the best experts on this subject based on the ideXlab platform.
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Simulation of Binding Update Message Authentication Based on Home Agent
Computer Simulation, 2008Co-Authors: Du Jian-junAbstract:Binding Update registration is the foundation of actualizing IPv6 mobility and route optimization,and at the same time,it brings a series of security menace.The authentication of binding Update acknowledgement Message is the key to solve the problem.Using the trust relationship and shared key between mobile node and home agent,a novel binding Update registration authentication mechanism based on home agent is proposed and the simulation model in Mobile IPv6 network is built.By the comparative analysis of the simulation results in the same platform,the pro- posed mechanism has better performance in binding Update security and route reachable dependency than other mech- anisms of same research field.Since the controllability and management of home agent is utilized,deployment of Mo- bile IPv6 becomes flexible.
Solmaz S. Kia - One of the best experts on this subject based on the ideXlab platform.
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Server-Assisted Distributed Cooperative Localization Over Unreliable Communication Links
IEEE Transactions on Robotics, 2018Co-Authors: Solmaz S. Kia, Jonathan Hechtbauer, David Gogokhiya, Sonia MartinezAbstract:We consider the problem of cooperative localization (CL) via interrobot measurements for a team of networked robots with limited on-board resources. We propose a novel algorithm in which each robot localizes itself in a global coordinate frame by local dead reckoning, and opportunistically corrects its pose estimate whenever it receives a relative measurement Update Message from a server. The computation and storage cost per robot in terms of the size of the team is of order $O(1)$ , and the robots are only transmitting information when they are involved in a relative measurement. The server also only needs to compute and transmit Update Messages when it receives an interrobot measurement. Under perfect communication, our algorithm is an alternative implementation of a joint CL for the team via an extended Kalman filter. However, perfect communication is not a hard constraint. We show that our algorithm is robust to communication failures, with formal guarantees that the Updated estimates of the robots receiving the Update Message are of minimum variance in a first-order approximate sense at that given timestep. We demonstrate the performance of our algorithm in simulation and experiments.
B Sikdar - One of the best experts on this subject based on the ideXlab platform.
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a statistical approach to anomaly detection in interdomain routing
Broadband Communications Networks and Systems, 2006Co-Authors: S Deshpande, Marina Thottan, B SikdarAbstract:A number of events such as hurricanes, earthquakes, power outages can cause large-scale failures in the Internet. These in turn cause anomalies in the interdomain routing process. The policy-based nature of Border Gateway protocol (BGP) further aggravates the effect of these anomalies causing severe, long lasting route fluctuations. In this work we propose an architecture for anomaly detection that can be implemented on individual routers. We use statistical pattern recognition techniques for extracting meaningful features from the BGP Update Message data. A time-series segmentation algorithm is then carried out on the feature traces to detect the onset of an instability event. The performance of the proposed algorithm is evaluated using real Internet trace data. We show that instabilities triggered by events like router mis-configurations, infrastructure failures and worm attacks can be detected with a false alarm rate as low as 0.0083 alarms per hour. We also show that our learning based mechanism is highly robust as compared to methods like Exponentially Weighted Moving Average (EWMA) based detection.
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BROADNETS - A Statistical Approach to Anomaly Detection in Interdomain Routing
2006 3rd International Conference on Broadband Communications Networks and Systems, 2006Co-Authors: S Deshpande, Marina Thottan, B SikdarAbstract:A number of events such as hurricanes, earthquakes, power outages can cause large-scale failures in the Internet. These in turn cause anomalies in the interdomain routing process. The policy-based nature of Border Gateway protocol (BGP) further aggravates the effect of these anomalies causing severe, long lasting route fluctuations. In this work we propose an architecture for anomaly detection that can be implemented on individual routers. We use statistical pattern recognition techniques for extracting meaningful features from the BGP Update Message data. A time-series segmentation algorithm is then carried out on the feature traces to detect the onset of an instability event. The performance of the proposed algorithm is evaluated using real Internet trace data. We show that instabilities triggered by events like router mis-configurations, infrastructure failures and worm attacks can be detected with a false alarm rate as low as 0.0083 alarms per hour. We also show that our learning based mechanism is highly robust as compared to methods like Exponentially Weighted Moving Average (EWMA) based detection.
