01897nas a2200193 4500008004100000245010600041210006900147520122400216653002101440653001301461100001401474700001701488700001401505700001901519700001501538700001201553700001501565856012301580 2006 eng d00aA scalable platform for safe and secure decentralized traffic management of multiagent mobile systems0 ascalable platform for safe and secure decentralized traffic mana3 a

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 ``neighboring'' agents. Ad-hoc wireless sensor networks are employed to provide support for this architecture.

10aEmbedded Control10aRobotics1 aDanesi, A1 aFagiolini, A1 aSavino, I1 aPallottino, L.1 aSchiavi, R1 aDini, G1 aBicchi, A. uhttp://95.110.227.16/publications/scalable-platform-safe-and-secure-decentralized-traffic-management-multiagent-mobile00746nas a2200169 4500008004100000245008900041210006900130520015200199653002100351653001300372100001400385700001600399700001500415700001500430700001200445856011900457 2006 eng d00aSecurity and Advanced Control Issues in a Robotic Platform for Monitoring and Relief0 aSecurity and Advanced Control Issues in a Robotic Platform for M3 a

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

10aEmbedded Control10aRobotics1 aDanesi, A1 aSavino, I M1 aSchiavi, R1 aBicchi, A.1 aDini, G uhttp://95.110.227.16/publications/security-and-advanced-control-issues-robotic-platform-monitoring-and-relief.html01241nas a2200145 4500008004100000245006500041210006500106300001500171520075500186653001300941100001500954700001600969700001500985856009501000 2004 eng d00aSafe and Fast Actuators for Machines Interacting with Humans0 aSafe and Fast Actuators for Machines Interacting with Humans a(in press)3 a

This paper describes a new generation of actuators for robotic applications, and more generally for machines that are designed to interact with humans. Such actuators, called Variable Impedance Actuators, are designed to achieve fast motion control while guaranteeing safety of human operators in worst-case impact situation. The fundamental innovation is to implement safety by purely mechanical, passive means, to guarantee intrinsic safety, while active control is used to recover performance. The design concept, which is the subject of a patent application, has led to the experimental implementation of a Variable Stiffness Actuator. The effectiveness of the VSA has been recently validated theoretically and experimentally by authors.

10aRobotics1 aBicchi, A.1 aTonietti, G1 aSchiavi, R uhttp://95.110.227.16/publications/safe-and-fast-actuators-machines-interacting-humans.html