In this work, the authors propose a novel decentralised coordination scheme for autonomous ground vehicles to enable map building and path planning with a network of smart overhead cameras. Decentralised indoor smart camera mapping and hierarchical navigation supports the automatic generation of waypoint graphs for each camera in an environment and allows path planning through the environment across multiple camera fields of view, or subviews. The proposed solution utilises the growing neural gas algorithm to learn the topology of unoccupied working space in each subview for maintaining a dynamic waypoint graph on each camera. The authors’ pathing solution leverages a modified version of the A* algorithm to compute paths in a decentralised and hierarchical fashion. Waypoint generation was simulated and analysed on a generated environment to ensure it is both effective and efficient, while path planning was simulated on various randomised hierarchical graphs to effectively compare the proposed Decentralised‐A* (D‐A*) algorithm against standard greedy search. The proposed method efficiently handles the cases where other robot navigation methods are otherwise weak and ineffective, while still providing avenues for further optimisation of resource overhead for both the smart camera network as well as the robots themselves.

We propose a design flow for automatic generation of hardware sandboxes. Our tool, the Component Authentication Process for Sandboxed Layouts (CAPSL), generates sandboxes capable of detecting trojan activation and nullifying potential damage to a system at run-time. Our approach captures the behavioral properties of non-trusted IPs with formal models that are translated to checker automata and implemented within a untrusted partition of the system to isolate sandbox-system interactions upon deviation from the behavioral checkers.

This paper explores the use of hardware sand-boxes, conceptually similar to software sandboxes, for secure integration of non-trusted IPs in systems-on-chip (SoC) designs. The goal of the hardware sandbox is to only allow permissible interactions between the IP and the rest of the system. The hardware sandbox design achieves this by exposing the IP interface to isolated virtual resources and checking IP signals' "correctness" at run-time. We evaluated the hardware sandbox through a real world design implementation. Our sandbox can detect a majority of Trust-Hub.org Trojan benchmarks with a negligible increase in resource overhead.