Biblio

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2017-05-30
Götzfried, Johannes, Müller, Tilo, Drescher, Gabor, Nürnberger, Stefan, Backes, Michael.  2016.  RamCrypt: Kernel-based Address Space Encryption for User-mode Processes. Proceedings of the 11th ACM on Asia Conference on Computer and Communications Security. :919–924.

We present RamCrypt, a solution that allows unmodified Linux processes to transparently work on encrypted data. RamCrypt can be deployed and enabled on a per-process basis without recompiling user-mode applications. In every enabled process, data is only stored in cleartext for the moment it is processed, and otherwise stays encrypted in RAM. In particular, the required encryption keys do not reside in RAM, but are stored in CPU registers only. Hence, RamCrypt effectively thwarts memory disclosure attacks, which grant unauthorized access to process memory, as well as physical attacks such as cold boot and DMA attacks. In its default configuration, RamCrypt exposes only up to 4 memory pages in cleartext at the same time. For the nginx web server serving encrypted HTTPS pages under heavy load, the necessary TLS secret key is hidden for 97% of its time.

2017-08-02
Liu, Mingmou, Pan, Xiaoyin, Yin, Yitong.  2016.  Randomized Approximate Nearest Neighbor Search with Limited Adaptivity. Proceedings of the 28th ACM Symposium on Parallelism in Algorithms and Architectures. :23–33.

We study the problem of approximate nearest neighbor search in \$d\$-dimensional Hamming space \0,1\d. We study the complexity of the problem in the famous cell-probe model, a classic model for data structures. We consider algorithms in the cell-probe model with limited adaptivity, where the algorithm makes k rounds of parallel accesses to the data structure for a given k. For any k ≥ 1, we give a simple randomized algorithm solving the approximate nearest neighbor search using k rounds of parallel memory accesses, with O(k(log d)1/k) accesses in total. We also give a more sophisticated randomized algorithm using O(k+(1/k log d)O(1/k)) memory accesses in k rounds for large enough k. Both algorithms use data structures of size polynomial in n, the number of points in the database. We prove an Ω(1/k(log d)1/k) lower bound for the total number of memory accesses required by any randomized algorithm solving the approximate nearest neighbor search within k ≤ (log log d)/(2 log log log d) rounds of parallel memory accesses on any data structures of polynomial size. This lower bound shows that our first algorithm is asymptotically optimal for any constant round k. And our second algorithm approaches the asymptotically optimal tradeoff between rounds and memory accesses, in a sense that the lower bound of memory accesses for any k1 rounds can be matched by the algorithm within k2=O(k1) rounds. In the extreme, for some large enough k=Θ((log log d)/(log log log d)), our second algorithm matches the Θ((log log d)/(log log log d)) tight bound for fully adaptive algorithms for approximate nearest neighbor search due to Chakrabarti and Regev.

2017-08-22
Cheng, Wei, Zhang, Kai, Chen, Haifeng, Jiang, Guofei, Chen, Zhengzhang, Wang, Wei.  2016.  Ranking Causal Anomalies via Temporal and Dynamical Analysis on Vanishing Correlations. Proceedings of the 22Nd ACM SIGKDD International Conference on Knowledge Discovery and Data Mining. :805–814.

Modern world has witnessed a dramatic increase in our ability to collect, transmit and distribute real-time monitoring and surveillance data from large-scale information systems and cyber-physical systems. Detecting system anomalies thus attracts significant amount of interest in many fields such as security, fault management, and industrial optimization. Recently, invariant network has shown to be a powerful way in characterizing complex system behaviours. In the invariant network, a node represents a system component and an edge indicates a stable, significant interaction between two components. Structures and evolutions of the invariance network, in particular the vanishing correlations, can shed important light on locating causal anomalies and performing diagnosis. However, existing approaches to detect causal anomalies with the invariant network often use the percentage of vanishing correlations to rank possible casual components, which have several limitations: 1) fault propagation in the network is ignored; 2) the root casual anomalies may not always be the nodes with a high-percentage of vanishing correlations; 3) temporal patterns of vanishing correlations are not exploited for robust detection. To address these limitations, in this paper we propose a network diffusion based framework to identify significant causal anomalies and rank them. Our approach can effectively model fault propagation over the entire invariant network, and can perform joint inference on both the structural, and the time-evolving broken invariance patterns. As a result, it can locate high-confidence anomalies that are truly responsible for the vanishing correlations, and can compensate for unstructured measurement noise in the system. Extensive experiments on synthetic datasets, bank information system datasets, and coal plant cyber-physical system datasets demonstrate the effectiveness of our approach.

2017-11-03
Mercaldo, F., Nardone, V., Santone, A..  2016.  Ransomware Inside Out. 2016 11th International Conference on Availability, Reliability and Security (ARES). :628–637.

Android is currently the most widely used mobile environment. This trend encourages malware writers to develop specific attacks targeting this platform with threats designed to covertly collect data or financially extort victims, the so-called ransomware. In this paper we use formal methods, in particular model checking, to automatically dissect ransomware samples. Starting from manual inspection of few samples, we define a set of rule in order to check whether the behaviours we find are representative of ransomware functionalities.

Shinde, R., Veeken, P. Van der, Schooten, S. Van, Berg, J. van den.  2016.  Ransomware: Studying transfer and mitigation. 2016 International Conference on Computing, Analytics and Security Trends (CAST). :90–95.

Cybercrimes today are focused over returns, especially in the form of monetary returns. In this paper - through a literature study and conducting interviews for the people victimized by ransomware and a survey with random set of victimized and non-victimized by ransomware - conclusions about the dependence of ransomware on demographics like age and education areshown. Increasing threats due to ease of transfer of ransomware through internet arealso discussed. Finally, low level awarenessamong company professionals is confirmed and reluctance to payment on being a victim is found as a common trait.

2017-04-20
Viticchié, Alessio, Basile, Cataldo, Avancini, Andrea, Ceccato, Mariano, Abrath, Bert, Coppens, Bart.  2016.  Reactive Attestation: Automatic Detection and Reaction to Software Tampering Attacks. Proceedings of the 2016 ACM Workshop on Software PROtection. :73–84.

Anti-tampering is a form of software protection conceived to detect and avoid the execution of tampered programs. Tamper detection assesses programs' integrity with load or execution-time checks. Avoidance reacts to tampered programs by stopping or rendering them unusable. General purpose reactions (such as halting the execution) stand out like a lighthouse in the code and are quite easy to defeat by an attacker. More sophisticated reactions, which degrade the user experience or the quality of service, are less easy to locate and remove but are too tangled with the program's business logic, and are thus difficult to automate by a general purpose protection tool. In the present paper, we propose a novel approach to anti-tampering that (i) fully automatically applies to a target program, (ii) uses Remote Attestation for detection purposes and (iii) adopts a server-side reaction that is difficult to block by an attacker. By means of Client/Server Code Splitting, a crucial part of the program is removed from the client and executed on a remote trusted server in sync with the client. If a client program provides evidences of its integrity, the part moved to the server is executed. Otherwise, a server-side reaction logic may (temporarily or definitely) decide to stop serving it. Therefore, a tampered client application can not continue its execution. We assessed our automatic protection tool on a case study Android application. Experimental results show that all the original and tampered executions are correctly detected, reactions are promptly applied, and execution overhead is on an acceptable level.

2017-04-03
Yüksel, Ömer, den Hartog, Jerry, Etalle, Sandro.  2016.  Reading Between the Fields: Practical, Effective Intrusion Detection for Industrial Control Systems. Proceedings of the 31st Annual ACM Symposium on Applied Computing. :2063–2070.

Detection of previously unknown attacks and malicious messages is a challenging problem faced by modern network intrusion detection systems. Anomaly-based solutions, despite being able to detect unknown attacks, have not been used often in practice due to their high false positive rate, and because they provide little actionable information to the security officer in case of an alert. In this paper we focus on intrusion detection in industrial control systems networks and we propose an innovative, practical and semantics-aware framework for anomaly detection. The network communication model and alerts generated by our framework are userunderstandable, making them much easier to manage. At the same time the framework exhibits an excellent tradeoff between detection rate and false positive rate, which we show by comparing it with two existing payload-based anomaly detection methods on several ICS datasets.

2017-11-20
Liu, Junbin, Sridharan, Sridha, Fookes, Clinton.  2016.  Recent Advances in Camera Planning for Large Area Surveillance: A Comprehensive Review. ACM Comput. Surv.. 49:6:1–6:37.

With recent advances in consumer electronics and the increasingly urgent need for public security, camera networks have evolved from their early role of providing simple and static monitoring to current complex systems capable of obtaining extensive video information for intelligent processing, such as target localization, identification, and tracking. In all cases, it is of vital importance that the optimal camera configuration (i.e., optimal location, orientation, etc.) is determined before cameras are deployed as a suboptimal placement solution will adversely affect intelligent video surveillance and video analytic algorithms. The optimal configuration may also provide substantial savings on the total number of cameras required to achieve the same level of utility. In this article, we examine most, if not all, of the recent approaches (post 2000) addressing camera placement in a structured manner. We believe that our work can serve as a first point of entry for readers wishing to start researching into this area or engineers who need to design a camera system in practice. To this end, we attempt to provide a complete study of relevant formulation strategies and brief introductions to most commonly used optimization techniques by researchers in this field. We hope our work to be inspirational to spark new ideas in the field.

2017-05-19
Sheeba, J. I., Devaneyan, S. Pradeep.  2016.  Recommendation of Keywords Using Swarm Intelligence Techniques. Proceedings of the International Conference on Informatics and Analytics. :8:1–8:5.

Text mining has developed and emerged as an essential tool for revealing the hidden value in the data. Text mining is an emerging technique for companies around the world and suitable for large enduring analyses and discrete investigations. Since there is a need to track disrupting technologies, explore internal knowledge bases or review enormous data sets. Most of the information produced due to conversation transcripts is an unstructured format. These data have ambiguity, redundancy, duplications, typological errors and many more. The processing and analysis of these unstructured data are difficult task. But, there are several techniques in text mining are available to extract keywords from these unstructured conversation transcripts. Keyword Extraction is the process of examining the most significant word in the context which helps to take decisions in a much faster manner. The main objective of the proposed work is extracting the keywords from meeting transcripts by using the Swarm Intelligence (SI) techniques. Here Stochastic Diffusion Search (SDS) algorithm is used for keyword extraction and Firefly algorithm used for clustering. These techniques will be implemented for an extensive range of optimization problems and produced better results when compared with existing technique.

2017-05-16
Arab, Bahareh Sadat, Gawlick, Dieter, Krishnaswamy, Vasudha, Radhakrishnan, Venkatesh, Glavic, Boris.  2016.  Reenactment for Read-Committed Snapshot Isolation. Proceedings of the 25th ACM International on Conference on Information and Knowledge Management. :841–850.

Provenance for transactional updates is critical for many applications such as auditing and debugging of transactions. Recently, we have introduced MV-semirings, an extension of the semiring provenance model that supports updates and transactions. Furthermore, we have proposed reenactment, a declarative form of replay with provenance capture, as an efficient and non-invasive method for computing this type of provenance. However, this approach is limited to the snapshot isolation (SI) concurrency control protocol while many real world applications apply the read committed version of snapshot isolation (RC-SI) to improve performance at the cost of consistency. We present non trivial extensions of the model and reenactment approach to be able to compute provenance of RC-SI transactions efficiently. In addition, we develop techniques for applying reenactment across multiple RC-SI transactions. Our experiments demonstrate that our implementation in the GProM system supports efficient re-construction and querying of provenance.

2017-05-22
Santoso, Bagus.  2016.  Refining Identification Scheme Based on Isomorphism of Polynomials with Two Secrets: A New Theoretical and Practical Analysis. Proceedings of the 3rd ACM International Workshop on ASIA Public-Key Cryptography. :31–38.

The isomorphism of polynomials with two secret (IP2S) problem is one candidate of computational assumptions for post- quantum cryptography. The only identification scheme based on IP2S is introduced in 1996 by Patarin. However, the security of the scheme has not been formally proven and we discover that the originally proposed parameters are no longer secure based on the most recent research. In this paper, we present the first formal security proof of identification scheme based on IP2S against impersonation under passive attack, sequential active attack, and concurrent active attack. We propose new secure parameters and methods to reduce the implementation cost. Using the proposed methods, we are able to cut the storage cost and average communication cost in a drastic way that the scheme is implementable even on the lightweight devices in the current market.

2017-05-19
Wang, Xiangru, Nourashrafeddin, Seyednaser, Milios, Evangelos.  2016.  Relaxing Orthogonality Assumption in Conceptual Text Document Similarity. Proceedings of the 2016 ACM Symposium on Document Engineering. :69–78.

By reflecting the degree of proximity or remoteness of documents, similarity measure plays the key role in text analytics. Traditional measures, e.g. cosine similarity, assume that documents are represented in an orthogonal space formed by words as dimensions. Words are considered independent from each other and document similarity is computed based on lexical overlap. This assumption is also made in the bag of concepts representation of documents while the space is formed by concepts. This paper proposes new semantic similarity measures without relying on the orthogonality assumption. By employing Wikipedia as an external resource, we introduce five similarity measures using concept-concept relatedness. Experimental results on real text datasets reveal that eliminating the orthogonality assumption improves the quality of text clustering algorithms.

2017-04-20
Brasser, Ferdinand, Rasmussen, Kasper B., Sadeghi, Ahmad-Reza, Tsudik, Gene.  2016.  Remote Attestation for Low-end Embedded Devices: The Prover's Perspective. Proceedings of the 53rd Annual Design Automation Conference. :91:1–91:6.

Security of embedded devices is a timely and important issue, due to the proliferation of these devices into numerous and diverse settings, as well as their growing popularity as attack targets, especially, via remote malware infestations. One important defense mechanism is remote attestation, whereby a trusted, and possibly remote, party (verifier) checks the internal state of an untrusted, and potentially compromised, device (prover). Despite much prior work, remote attestation remains a vibrant research topic. However, most attestation schemes naturally focus on the scenario where the verifier is trusted and the prover is not. The opposite setting–-where the prover is benign, and the verifier is malicious–-has been side-stepped. To this end, this paper considers the issue of prover security, including: verifier impersonation, denial-of-service (DoS) and replay attacks, all of which result in unauthorized invocation of attestation functionality on the prover. We argue that protection of the prover from these attacks must be treated as an important component of any remote attestation method. We formulate a new roaming adversary model for this scenario and present the trade-offs involved in countering this threat. We also identify new features and methods needed to protect the prover with minimal additional requirements.

2017-05-16
Chirigati, Fernando, Rampin, Rémi, Shasha, Dennis, Freire, Juliana.  2016.  ReproZip: Computational Reproducibility With Ease. Proceedings of the 2016 International Conference on Management of Data. :2085–2088.

We present ReproZip, the recommended packaging tool for the SIGMOD Reproducibility Review. ReproZip was designed to simplify the process of making an existing computational experiment reproducible across platforms, even when the experiment was put together without reproducibility in mind. The tool creates a self-contained package for an experiment by automatically tracking and identifying all its required dependencies. The researcher can share the package with others, who can then use ReproZip to unpack the experiment, reproduce the findings on their favorite operating system, as well as modify the original experiment for reuse in new research, all with little effort. The demo will consist of examples of non-trivial experiments, showing how these can be packed in a Linux machine and reproduced on different machines and operating systems. Demo visitors will also be able to pack and reproduce their own experiments.

2017-08-22
Zhang, Lihua, Shang, Yue, Qin, Qi, Chen, Shaowei, Zhao, Shuai.  2016.  Research on Fault Feature Extraction for Analog Circuits. Proceedings of the 8th International Conference on Signal Processing Systems. :173–177.

In order to realize the accurate positioning and recognition effectively of the analog circuit, the feature extraction of fault information is an extremely important port. This arrival based on the experimental circuit which is designed as a failure mode to pick-up the fault sample set. We have chosen two methods, one is the combination of wavelet transform and principal component analysis, the other is the factorial analysis for the fault data's feature extraction, and we also use the extreme learning machine to train and diagnose the data, to compare the performance of these two methods through the accuracy of the diagnosis. The results of the experiment shows that the data which we get from the experimental circuit, after dealing with these two methods can quickly get the fault location.

2017-09-19
Yingying, Xu, Chao, Liu, Tao, Tang.  2016.  Research on Risk Assessment of CTCS Based on Fuzzy Reasoning and Analytic Hierarchy Process. Proceedings of the 2016 International Conference on Intelligent Information Processing. :31:1–31:7.

In this paper, we describe the formatting guidelines for ACM SIG Proceedings. In order to assure safety of Chinese Train Control System (CTCS), it is necessary to ensure the operational risk is acceptable throughout its life-cycle, which requires a pragmatic risk assessment required for effective risk control. Many risk assessment techniques currently used in railway domain are qualitative, and rely on the experience of experts, which unavoidably brings in subjective judgements. This paper presents a method that combines fuzzy reasoning and analytic hierarchy process approach to quantify the experiences of experts to get the scores of risk parameters. Fuzzy reasoning is used to obtain the risk of system hazard, analytic hierarchy process approach is used to determine the risk level (RL) and its membership of the system. This method helps safety analyst to calculate overall collective risk level of system. A case study of risk assessment of CTCS system is used to demonstrate this method can give quantitative result of collective risks without much information from experts, but can support the risk assessment with risk level and its membership, which are more valuable to guide the further risk management.

2017-11-27
Fournaris, A. P., Papachristodoulou, L., Batina, L., Sklavos, N..  2016.  Residue Number System as a side channel and fault injection attack countermeasure in elliptic curve cryptography. 2016 International Conference on Design and Technology of Integrated Systems in Nanoscale Era (DTIS). :1–4.

Implementation attacks and more specifically Power Analysis (PA) (the dominant type of side channel attack) and fault injection (FA) attacks constitute a pragmatic hazard for scalar multiplication, the main operation behind Elliptic Curve Cryptography. There exists a wide variety of countermeasures attempting to thwart such attacks that, however, few of them explore the potential of alternative number systems like the Residue Number System (RNS). In this paper, we explore the potential of RNS as an PA-FA countermeasure and propose an PA-FA resistant scalar multiplication algorithm and provide an extensive security analysis against the most effective PA-FA techniques. We argue through a security analysis that combining traditional PA-FA countermeasures with lightweight RNS countermeasures can provide strong PA-FA resistance.

2017-03-29
Rajabi, Arezoo, Bobba, Rakesh B..  2016.  A Resilient Algorithm for Power System Mode Estimation Using Synchrophasors. Proceedings of the 2Nd Annual Industrial Control System Security Workshop. :23–29.

Bulk electric systems include hundreds of synchronous generators. Faults in such systems can induce oscillations in the generators which if not detected and controlled can destabilize the system. Mode estimation is a popular method for oscillation detection. In this paper, we propose a resilient algorithm to estimate electro-mechanical oscillation modes in large scale power system in the presence of false data. In particular, we add a fault tolerance mechanism to a variant of alternating direction method of multipliers (ADMM) called S-ADMM. We evaluate our method on an IEEE 68-bus test system under different attack scenarios and show that in all the scenarios our algorithm converges well.

2017-05-18
Kattepur, Ajay, Dohare, Harshit, Mushunuri, Visali, Rath, Hemant Kumar, Simha, Anantha.  2016.  Resource Constrained Offloading in Fog Computing. Proceedings of the 1st Workshop on Middleware for Edge Clouds & Cloudlets. :1:1–1:6.

When focusing on the Internet of Things (IoT), communicating and coordinating sensor–actuator data via the cloud involves inefficient overheads and reduces autonomous behavior. The Fog Computing paradigm essentially moves the compute nodes closer to sensing entities by exploiting peers and intermediary network devices. This reduces centralized communication with the cloud and entails increased coordination between sensing entities and (possibly available) smart network gateway devices. In this paper, we analyze the utility of offloading computation among peers when working in fog based deployments. It is important to study the trade-offs involved with such computation offloading, as we deal with resource (energy, computation capacity) limited devices. Devices computing in a distributed environment may choose to locally compute part of their data and communicate the remainder to their peers. An optimization formulation is presented that is applied to various deployment scenarios, taking the computation and communication overheads into account. Our technique is demonstrated on a network of robotic sensor–actuators developed on the ROS (Robot Operating System) platform, that coordinate over the fog to complete a task. We demonstrate 77.8% latency and 54% battery usage improvements over large computation tasks, by applying this optimal offloading.

Brookes, Scott, Taylor, Stephen.  2016.  Rethinking Operating System Design: Asymmetric Multiprocessing for Security and Performance. Proceedings of the 2016 New Security Paradigms Workshop. :68–79.

Developers and academics are constantly seeking to increase the speed and security of operating systems. Unfortunately, an increase in either one often comes at the cost of the other. In this paper, we present an operating system design that challenges a long-held tenet of multicore operating systems in order to produce an alternative architecture that has the potential to deliver both increased security and faster performance. In particular, we propose decoupling the operating system kernel from user processes by running each on completely separate processor cores instead of at different privilege levels within shared cores. Without using the hardware's privilege modes, virtualization and virtual memory contexts enforce the security policies necessary to maintain process isolation and protection. Our new kernel design paradigm offers the opportunity to simultaneously increase both performance and security; utilizing the hardware facilities for inter-core communication in place of those for privilege mode switching offers the opportunity for increased system call performance, while the hard separation between user processes and the kernel provides several strong security properties.

2017-04-03
Theisen, Christopher.  2016.  Reusing Stack Traces: Automated Attack Surface Approximation. Proceedings of the 38th International Conference on Software Engineering Companion. :859–862.

Security requirements around software systems have become more stringent as society becomes more interconnected via the Internet. New ways of prioritizing security efforts are needed so security professionals can use their time effectively to find security vulnerabilities or prevent them from occurring in the first place. The goal of this work is to help software development teams prioritize security efforts by approximating the attack surface of a software system via stack trace analysis. Automated attack surface approximation is a technique that uses crash dump stack traces to predict what code may contain exploitable vulnerabilities. If a code entity (a binary, file or function) appears on stack traces, then Attack Surface Approximation (ASA) considers that code entity is on the attack surface of the software system. We also explore whether number of appearances of code on stack traces correlates with where security vulnerabilities are found. To date, feasibility studies of ASA have been performed on Windows 8 and 8.1, and Mozilla Firefox. The results from these studies indicate that ASA may be useful for practitioners trying to secure their software systems. We are now working towards establishing the ground truth of what the attack surface of software systems is, along with looking at how ASA could change over time, among other metrics.

2017-11-27
Yanbing, J., Ruiqiong, L., Shanxi, H. X., Peng, W..  2016.  Risk assessment of cascading failures in power grid based on complex network theory. 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV). :1–6.

Cascading failure is an intrinsic threat of power grid to cause enormous cost of society, and it is very challenging to be analyzed. The risk of cascading failure depends both on its probability and the severity of consequence. It is impossible to analyze all of the intrinsic attacks, only the critical and high probability initial events should be found to estimate the risk of cascading failure efficiently. To recognize the critical and high probability events, a cascading failure analysis model for power transmission grid is established based on complex network theory (CNT) in this paper. The risk coefficient of transmission line considering the betweenness, load rate and changeable outage probability is proposed to determine the initial events of power grid. The development tendency of cascading failure is determined by the network topology, the power flow and boundary conditions. The indicators of expected percentage of load loss and line cut are used to estimate the risk of cascading failure caused by the given initial malfunction of power grid. Simulation results from the IEEE RTS-79 test system show that the risk of cascading failure has close relations with the risk coefficient of transmission lines. The value of risk coefficient could be useful to make vulnerability assessment and to design specific action to reduce the topological weakness and the risk of cascading failure of power grid.

2017-04-03
Nicol, David M..  2016.  Risk Assessment of Cyber Access to Physical Infrastructure in Cyber-Physical Systems. Proceedings of the 2Nd ACM International Workshop on Cyber-Physical System Security. :1–2.
Theisen, Christopher, Williams, Laurie.  2016.  Risk-based Attack Surface Approximation: Poster. Proceedings of the Symposium and Bootcamp on the Science of Security. :121–123.

Proactive security review and test efforts are a necessary component of the software development lifecycle. Since resource limitations often preclude reviewing, testing and fortifying the entire code base, prioritizing what code to review/test can improve a team's ability to find and remove more vulnerabilities that are reachable by an attacker. One way that professionals perform this prioritization is the identification of the attack surface of software systems. However, identifying the attack surface of a software system is non-trivial. The goal of this poster is to present the concept of a risk-based attack surface approximation based on crash dump stack traces for the prioritization of security code rework efforts. For this poster, we will present results from previous efforts in the attack surface approximation space, including studies on its effectiveness in approximating security relevant code for Windows and Firefox. We will also discuss future research directions for attack surface approximation, including discovery of additional metrics from stack traces and determining how many stack traces are required for a good approximation.

2017-05-18
Dey, Swarnava, Mukherjee, Arijit.  2016.  Robotic SLAM: A Review from Fog Computing and Mobile Edge Computing Perspective. Adjunct Proceedings of the 13th International Conference on Mobile and Ubiquitous Systems: Computing Networking and Services. :153–158.

Offloading computationally expensive Simultaneous Localization and Mapping (SLAM) task for mobile robots have attracted significant attention during the last few years. Lack of powerful on-board compute capability in these energy constrained mobile robots and rapid advancement in compute cloud access technologies laid the foundation for development of several Cloud Robotics platforms that enabled parallel execution of computationally expensive robotic algorithms, especially involving multiple robots. In this work the Cloud Robotics concept is extended to include the current emphasis of computing at the network edge nodes along with the Cloud. The requirements and advantages of using edge nodes for computation offloading over remote cloud or local robot clusters are discussed with reference to the ETSI 'Mobile-Edge Computing' initiative and OpenFog Consortium's 'OpenFog Architecture'. A Particle Filter algorithm for SLAM is modified and implemented for offloading in a multi-tier edge+cloud setup. Additionally a model is proposed for offloading decision in such a setup with experiments and results demonstrating the efficacy of the proposed dynamic offloading scheme over static offloading strategies.