Experiments in Consensus-based Decentralized Information Feedback Control Strategies on a Real Robotic Fish Platform

A decentralized information feedback mechanism was introduced to a group of mobile robots such that the robots asymptotically converge to a given moving formation. While various distributed cooperative control strategies have been studied in theory,few of them have been systematically validated on experimental platforms. This paper demonstrates the experimental results of consensus-based decentralized information feedback mechanism on a multiple mobile robotic fish platform. In this paper, we firstly introduced a fundamental consensus algorithm for systems model and the cooperative control experimental platform,and then experimentally implemented and validated the formation control algorithm through setting transit point and lookup table method and so on. The experimental results show the effectiveness of the consensus-based decentralized information feedback control strategies.

DroidEcho:an in-depth dissection of malicious behaviors in Android applications

A precise representation for attacks can benefit the detection of malware in both accuracy and efficiency.However,it is still far from expectation to describe attacks precisely on the Android platform.In addition,new features on Android,such as communication mechanisms,introduce new challenges and difficulties for attack detection.In this paper,we propose abstract attack models to precisely capture the semantics of various Android attacks,which include the corresponding targets,involved behaviors as well as their execution dependency.Meanwhile,we construct a novel graph-based model called the inter-component communication graph(ICCG)to describe the internal control flows and inter-component communications of applications.The models take into account more communication channel with a maximized preservation of their program logics.With the guidance of the attack models,we propose a static searching approach to detect attacks hidden in ICCG.To reduce false positive rate,we introduce an additional dynamic confirmation step to check whether the detected attacks are false alarms.Experiments show that DROIDECHO can detect attacks in both benchmark and real-world applications effectively and efficiently with a precision of 89.5%.

Review of attitude consensus of multiple spacecraft

A group of cooperative agents can finish complicated missions that are difficult for a large machine.In the past two decades,spacecraft attitude coordination has attracted significant research attention owing to its wide potential applications.This paper presents a survey of recent research progress on the spacecraft attitude consensus problem,paying particular attention to the papers published in major aerospace,dynamics,automation,and robotics journals since 2015.Attitude consensus concepts for centralized,decentralized,and distributed cases are reviewed.This overview summarizes results on system dynamics and consensus algorithms based on frequently used attitude representations,such as Euler angles,modified Rodrigues parameters,unit quaternions,and rotation matrices.Studies conducted under complicated operating conditions are also covered.Experimental results on attitude consensus are discussed.In the final section,the main conclusions are drawn and several potential research directions are provided.