A Robot Swarm Assisting a Human Fire-Fighter

Emergencies in industrial warehouses are a major concern for fire-fighters. The large dimensions, together with the development of dense smoke that drastically reduces visibility, represent major challenges. The GUARDIANS robot swarm is designed to assist fire-fighters in searching a large warehouse. In this paper we discuss the technology developed for a swarm of robots assisting fire-fighters. We explain the swarming algorithms that provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also the means to locate the robots and humans. Thus, the robot swarm is able to provide guidance information to the humans. Together with the fire-fighters we explored how the robot swarm should feed information back to the human fire-fighter. We have designed and experimented with interfaces for presenting swarm-based information to human beings.     

基于IPSec的移动AD-HOC安全体系结构

一直以来，认为在移动AD—HOC网络和无线节点之间运用IPSec来保证通信安全是困难的。文章描述了一个基于IPSec的体系结构，并把它用在AD—HOC网络上，无缝地实现了节点移动性和IP地址的转换。这种方法可以保证应用、移动管理与认证协议的安全通信，是一种基于认证的方法，它通过加入动态的密钥产生与分配节点之间的安全关联。