10.3ROSep 20, 2018
The Open Vision Computer: An Integrated Sensing and Compute System for Mobile RobotsMorgan Quigley, Kartik Mohta, Shreyas S. Shivakumar et al.
In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a system that would be suitable for relatively small-scale flying platforms where size, weight, power consumption and computational performance were all important considerations. This manuscript describes the primary features of our OVC system and explains how they are used to support fully autonomous indoor and outdoor exploration and navigation operations on our Falcon 250 quadrotor platform.
16.3RONov 21, 2016
SROS: Securing ROS over the wire, in the graph, and through the kernelRuffin White, Dr. Henrik I. Christensen, Dr. Morgan Quigley
SROS is a proposed addition to the ROS API and ecosystem to support modern cryptography and security measures. An overview of current progress will be presented, rationalizing each major advancement, including: over-the-wire cryptography for all data transport, namespaced access control enforcing graph policies/restrictions, and finally process profiles using Linux Security Modules to harden a node's resource access. By making the community aware of the vulnerabilities in ROS, as well as the proposed solutions provided by SROS, we intend to improve the state of security for future robotics subsystems.