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Proceedings Paper

Escape and evade control policies for ensuring the physical security of nonholonomic, ground-based, unattended mobile sensor nodes
Author(s): David Mascarenas; Christopher Stull; Charles Farrar
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Paper Abstract

In order to realize the wide-scale deployment of high-endurance, unattended mobile sensing technologies, it is vital to ensure the self-preservation of the sensing assets. Deployed mobile sensor nodes face a variety of physical security threats including theft, vandalism and physical damage. Unattended mobile sensor nodes must be able to respond to these threats with control policies that facilitate escape and evasion to a low-risk state. In this work the Precision Immobilization Technique (PIT) problem has been considered. The PIT maneuver is a technique that a pursuing, car-like vehicle can use to force a fleeing vehicle to abruptly turn ninety degrees to the direction of travel. The abrupt change in direction generally causes the fleeing driver to lose control and stop. The PIT maneuver was originally developed by law enforcement to end vehicular pursuits in a manner that minimizes damage to the persons and property involved. It is easy to imagine that unattended autonomous convoys could be targets of this type of action by adversarial agents. This effort focused on developing control policies unattended mobile sensor nodes could employ to escape, evade and recover from PIT-maneuver-like attacks. The development of these control policies involved both simulation as well as small-scale experimental testing. The goal of this work is to be a step toward ensuring the physical security of unattended sensor node assets.

Paper Details

Date Published: 24 May 2011
PDF: 12 pages
Proc. SPIE 8046, Unattended Ground, Sea, and Air Sensor Technologies and Applications XIII, 80460G (24 May 2011); doi: 10.1117/12.883446
Show Author Affiliations
David Mascarenas, Los Alamos National Lab. (United States)
Christopher Stull, Los Alamos National Lab. (United States)
Charles Farrar, Los Alamos National Lab. (United States)

Published in SPIE Proceedings Vol. 8046:
Unattended Ground, Sea, and Air Sensor Technologies and Applications XIII
Edward M. Carapezza, Editor(s)

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