Self-autonomous vehicle
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For the past decade, there has been a significant increase in customer usage of public transport applications in smart cities. These applications rely on various services, such as communication and computation, provided by additional nodes within the smart city environment. However, these services are delivered by a diverse range of cloud computing-based servers that are widely spread and heterogeneous, leading to cybersecurity becoming a crucial challenge among these servers. Numerous machine-learning approaches have been proposed in the literature to address the cybersecurity challenges in heterogeneous transport applications within smart cities. However, the centralized security and scheduling strategies suggested so far have yet to produce optimal results for transport applications. This work aims to present a secure decentralized infrastructure for transporting data in fog cloud networks. This paper introduces Multi-Objectives Reinforcement Federated Learning Blockchain (MORFLB) for Transport Infrastructure. MORFLB aims to minimize processing and transfer delays while maximizing long-term rewards by identifying known and unknown attacks on remote sensing data in-vehicle applications. MORFLB incorporates multi-agent policies, proof-of-work hashing validation, and decentralized deep neural network training to achieve minimal processing and transfer delays. It comprises vehicle applications, decentralized fog, and cloud nodes based on blockchain reinforcement federated learning, which improves rewards through trial and error. The study formulates a combinatorial problem that minimizes and maximizes various factors for vehicle applications. The experimental results demonstrate that MORFLB effectively reduces processing and transfer delays while maximizing rewards compared to existing studies. It provides a promising solution to address the cybersecurity challenges in intelligent transport applications within smart cities. In conclusion, this paper presents MORFLB, a combination of different schemes that ensure the execution of transport data under their constraints and achieve optimal results with the suggested decentralized infrastructure based on blockchain technology.
- Klíčová slova
- Agents, Blockchain, Cloud, MORFLB, Self-autonomous vehicle, Training,
- Publikační typ
- časopisecké články MeSH
The development and manufacture of self-driving cars (SDCs) have triggered unprecedented challenges among car manufacturers and smart road operators to accelerate awareness and implementation of innovative technologies for cooperative, connected and automated mobility (CCAM), especially those with a high level of automation and safety. Safety improvement is a pre-requisite to justify and unleashing a mass deployment of connected and driverless cars to reach the goal of zero-accident in 2050 set by the European Commission. Behind these motivations a well-justified and widely acceptable high-level safety target for SDCs is mandatory. The aim of this article is to contribute to the derivation of an harmonised high-level safety target for SDCs, starting from the safety requirements and the state of the art achieved by train and airplane operations. The novelty of our approach is to leverage the Common Safety Method-Design Targets (CSM-DT) already adopted and widely accepted by the railway community. According to this approach, the derived, justified and harmonised high-level design safety target for SDCs, defined as the average probability of a dangerous failure PFSDC per 1 h, should be 1 × 10-7/h. An example of PFSDC allocation to individual SDC safety functions, including position determination based on Global Navigation Satellite System (GNSS), is described using a fault tree. The proposed methodology can speed up the validation and certification process needed to authorise the SDCs, by capitalising the know-how and best practices in use since many years for the train management.
The integration of millimeter wave (mmWave) and low frequency interfaces brings an unique opportunity to unify the communications and positioning technologies in the future wireless heterogeneous networks (HetNets), which offer great potential for efficient handover using location awareness, hence a location-aware handover (LHO). Targeting a self-organized communication system with autonomous vehicles, we conduct and describe an experimental and analytical study on the LHO using a mmWave-enabled robotic platform in a multi-radio environment. Compared to the conventional received signal strength indicator (RSSI)-based handover, the studied LHO not only improves the achievable throughput, but also enhances the wireless link robustness for the industrial Internet-of-things (IIoT)-oriented applications. In terms of acquiring location awareness, a geometry-based positioning (GBP) algorithm is proposed and implemented in both simulation and experiments, where its achievable accuracy is assessed and tested. Based on the performed experiments, the location-related measurements acquired by the robot are not accurate enough for the standalone-GBP algorithm to provide an accurate location awareness to perform a reliable handover. Nevertheless, we demonstrate that by combining the GBP with the dead reckoning, more accurate location awareness becomes achievable, the LHO can therefore be performed in a more optimized manner compared to the conventional RSSI-based handover scheme, and is therefore able to achieve approximately twice as high average throughput in certain scenarios. Our study confirms that the achieved location awareness, if accurate enough, could enable an efficient handover scheme, further enhancing the autonomous features in the HetNets.
- Klíčová slova
- dead reckoning, geometry-based positioning, indoor industrial environments, location-aware handover, mmWave communications, multi-radio access, radio positioning,
- Publikační typ
- časopisecké články MeSH
Ensuring efficient and safe trajectory planning for UAVs in complex and dynamic environments is a critical challenge, especially for UAVs that are increasingly deployed in applications like environmental monitoring, disaster management, and surveillance. The primary complications in the safe control of UAVs include real-time obstacle avoidance, adaptation to unpredictable environmental changes, and coordination among multiple UAVs to prevent collisions. This paper addresses these challenges by proposing a novel approach for UAV trajectory planning that integrates obstacle avoidance and target acquisition. We introduce a new cost function designed to minimize the distance to the target while maximizing the distance from obstacles, effectively balancing these competing objectives to ensure safety and efficiency. To optimize this cost function, we employ the self-organizing migrating algorithm, a swarm intelligence algorithm inspired by the cooperative and competitive behaviors observed in natural organisms. Our method enables UAVs to autonomously generate safe and efficient paths in real-time, adapt to dynamic changes, and scale to large swarms without relying on centralized control. Simulation results across three scenarios-including a complex environment with ten UAVs and multiple obstacles-demonstrate the effectiveness of our approach. The UAVs successfully reach their targets while avoiding collisions, confirming the reliability and robustness of the proposed method. This work contributes to advancing autonomous UAV operations by providing a scalable and adaptable solution for trajectory planning in challenging environments.
