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ca
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in
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s
[
1
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in
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is
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b
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io
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em
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co
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f
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[
2
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f
o
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ity
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ased
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HB
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[
3
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th
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d
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ess
es
s
im
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s
u
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T
h
is
p
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with
m
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t p
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[
4
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a
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d
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in
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m
u
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ased
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[
5
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as
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T
h
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ar
e
v
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s
ap
p
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es
[
5
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–
[
7
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to
ac
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co
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m
u
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Po
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(
SIPP)
[
8
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an
d
co
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b
ased
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(
C
B
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[
9
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m
eth
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SIPP
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ased
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f
licts
.
Evaluation Warning : The document was created with Spire.PDF for Python.
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I
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20
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1
5
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d
o
n
o
t r
ely
o
n
co
n
s
tan
t c
o
m
m
u
n
icatio
n
an
d
ar
e
p
r
o
v
en
to
wo
r
k
in
d
y
n
am
ic
e
n
v
ir
o
n
m
en
ts
,
th
ey
s
u
f
f
er
f
r
o
m
co
m
m
o
n
d
i
s
ad
v
an
tag
es
o
f
ce
n
t
r
alize
d
a
p
p
r
o
ac
h
es
s
u
ch
as
s
ca
lab
ilit
y
,
co
m
p
u
tatio
n
al
co
m
p
lex
ity
a
n
d
co
m
m
u
n
icatio
n
o
v
er
h
ea
d
.
A
d
d
itio
n
ally
,
in
ca
s
e
a
m
alicio
u
s
ag
e
n
t
attac
k
s
th
e
ce
n
t
r
alize
d
s
y
s
tem
,
th
e
en
tire
s
y
s
tem
is
co
m
p
r
o
m
is
ed
in
s
tan
tly
.
On
th
e
o
th
er
h
an
d
,
d
ec
e
n
tr
alize
d
ap
p
r
o
ac
h
es lik
e
r
ec
ip
r
o
ca
l v
el
o
city
o
b
s
tacle
(
R
VO)
[
1
1
]
an
d
n
o
n
lin
ea
r
m
o
d
el
p
r
e
d
ictiv
e
co
n
tr
o
l (
NM
PC
)
[
1
2
]
alg
o
r
ith
m
s
ar
e
s
ca
lab
le,
ad
ap
t
ab
le
an
d
m
o
s
t
im
p
o
r
tan
tly
h
av
e
en
h
an
ce
d
to
ler
a
n
ce
to
m
alicio
u
s
in
f
o
r
m
atio
n
as
ea
ch
r
o
b
o
t
p
lan
s
its
o
wn
p
ath
in
d
ep
en
d
en
tly
.
T
h
is
p
a
p
er
p
r
o
p
o
s
es
a
s
em
i
-
d
ec
e
n
tr
alize
d
a
p
p
r
o
ac
h
to
in
teg
r
ate
th
ese
p
ath
p
la
n
n
in
g
alg
o
r
ith
m
s
in
to
th
e
h
y
b
r
id
ized
b
lo
ck
ch
ain
m
o
d
el
-
b
ased
ar
ch
itectu
r
e
(
HB
MA
)
.
I
t
also
m
o
d
if
ies
th
e
alg
o
r
ith
m
s
b
y
cr
ea
tin
g
an
o
p
tim
al
co
m
m
u
n
icatio
n
m
eth
o
d
am
o
n
g
r
o
b
o
ts
to
r
ed
u
ce
th
e
co
m
m
u
n
icatio
n
o
v
e
r
h
ea
d
w
h
ile
th
e
r
o
b
o
t p
ath
s
ar
e
c
o
u
p
le
d
,
d
y
n
am
ic
a
n
d
s
ec
u
r
e
b
y
th
e
b
lo
ck
ch
ain
m
o
d
el.
2.
B
ACK
G
RO
UND
2
.
1
.
Sem
i
-
dece
ntr
a
lized
a
rc
hite
ct
ure
us
ing
R
O
S
R
OS
is
an
o
p
en
-
s
o
u
r
ce
m
id
d
l
ewa
r
e
th
at
p
r
o
v
i
d
es
a
c
o
llectio
n
o
f
lib
r
ar
ies
an
d
to
o
ls
f
o
r
b
u
ild
in
g
a
n
d
m
an
ag
in
g
r
o
b
o
tic
s
y
s
tem
s
.
On
e
o
f
th
e
p
r
im
ar
y
ad
v
a
n
tag
es o
f
u
s
in
g
R
OS
is
th
e
co
m
m
u
n
icatio
n
p
ip
elin
e
th
at
it
p
r
o
v
id
es.
I
t
en
ab
les
co
m
m
u
n
icatio
n
b
etwe
en
d
i
f
f
er
en
t
c
o
m
p
o
n
en
ts
o
f
a
r
o
b
o
t
s
y
s
te
m
,
s
u
ch
as
s
en
s
o
r
s
,
ac
tu
ato
r
s
,
an
d
h
ig
h
e
r
-
lev
el
co
n
tr
o
l
alg
o
r
ith
m
s
.
R
OS
s
u
p
p
o
r
t
s
a
d
is
tr
ib
u
ted
ar
ch
itectu
r
e,
all
o
win
g
f
o
r
m
o
d
u
lar
d
ev
elo
p
m
e
n
t.
T
h
e
ec
o
s
y
s
tem
en
ab
les
u
s
er
s
to
r
ec
o
r
d
an
d
v
i
s
u
alize
d
ata
u
s
in
g
p
ac
k
ag
es
li
k
e
r
o
s
b
ag
an
d
R
OS
v
is
u
aliza
tio
n
(
r
v
iz)
.
A
ce
n
tr
al
ized
R
OS
s
er
v
er
co
n
n
ec
ts
m
u
ltip
le
n
o
d
es
wh
ich
ca
n
co
m
m
u
n
icate
with
ea
ch
o
th
er
u
s
in
g
R
OS
m
ess
ag
es o
n
th
e
p
u
b
lis
h
er
-
s
u
b
s
cr
ib
er
m
o
d
e
l.
T
h
is
f
ea
tu
r
e
o
f
R
OS
is
u
s
e
d
to
cr
ea
te
a
s
em
i
-
d
ec
en
tr
ali
ze
d
ar
ch
itectu
r
e.
E
ac
h
r
o
b
o
t
h
as
s
tat
e
in
f
o
r
m
atio
n
ab
o
u
t
its
elf
th
r
o
u
g
h
p
r
o
p
r
io
ce
p
tiv
e
o
r
ex
te
r
o
ce
p
tiv
e
s
en
s
o
r
s
.
I
n
f
o
r
m
atio
n
r
e
g
ar
d
in
g
o
th
er
r
o
b
o
ts
is
co
m
m
u
n
icate
d
th
r
o
u
g
h
th
e
s
u
b
s
cr
ib
ed
R
OS
to
p
ics.
As
a
r
esu
lt
of
th
is
h
ap
p
e
n
in
g
on
all
r
o
b
o
ts
in
th
e
m
u
lti
-
r
o
b
o
t
s
y
s
tem
in
p
a
r
allel
f
ash
io
n
,
all
r
o
b
o
ts
h
av
e
in
f
o
r
m
atio
n
ab
o
u
t
all
o
th
e
r
r
o
b
o
t
s
tates
d
ir
ec
tly
o
r
in
d
ir
ec
tly
.
T
h
is
g
iv
es
ea
ch
ag
en
t
th
e
ca
p
ab
ilit
y
to
m
ak
e
d
ec
is
io
n
s
f
o
r
its
elf
.
T
h
e
m
u
lti
-
r
o
b
o
t
s
y
s
tem
ca
n
b
e
u
s
ed
to
p
er
f
o
r
m
v
a
r
io
u
s
task
s
[
1
3
]
s
u
ch
as
m
ap
p
in
g
,
p
ath
p
lan
n
i
n
g
a
n
d
task
co
o
r
d
in
atio
n
,
w
h
ile
ea
ch
r
o
b
o
t
is
ex
ec
u
tin
g
i
n
d
ep
e
n
d
en
tly
tak
in
g
d
ec
is
io
n
s
b
y
its
elf
an
d
s
im
u
ltan
eo
u
s
ly
co
m
m
u
n
icatin
g
an
d
co
o
p
er
atin
g
with
all
o
th
er
ag
en
ts
in
t
h
e
s
y
s
tem
.
T
h
is
g
iv
es th
e
ar
ch
itectu
r
e
a
d
ec
en
tr
alize
d
ch
ar
ac
ter
is
tic.
2
.
2
.
H
y
bridi
ze
d
b
lo
ck
cha
in
mo
d
e
l
B
lo
ck
ch
ain
s
ar
e
u
s
ed
as
d
is
tr
i
b
u
ted
led
g
er
s
y
s
tem
s
to
en
cr
y
p
t
an
d
s
ec
u
r
e
d
ata.
T
r
ad
itio
n
ally
,
th
ey
co
n
s
is
t
o
f
p
ar
ticip
atin
g
n
o
d
es
wh
ich
k
ee
p
tr
ac
k
o
f
tr
an
s
ac
ti
o
n
s
an
d
ar
e
g
r
o
u
p
ed
as
b
lo
ck
s
wh
ich
ar
e
lin
k
e
d
h
o
r
izo
n
tally
b
y
a
ch
ain
.
T
ak
i
n
g
in
s
p
ir
atio
n
f
r
o
m
t
h
e
s
am
e
m
o
d
el
f
o
r
s
ec
u
r
i
n
g
MRS
,
th
is
p
ap
er
ca
m
e
u
p
with
a
HB
MA
wh
ich
co
n
s
is
ts
o
f
p
ar
allel
b
lo
ck
s
b
elo
n
g
in
g
to
in
d
iv
id
u
al
r
o
b
o
ts
th
at
ar
e
lin
k
ed
b
o
th
v
er
tically
an
d
h
o
r
izo
n
tally
as
s
h
o
wn
in
Fig
u
r
e
1
.
Fig
u
r
e
1
.
Sam
e
h
ash
is
g
en
er
at
ed
at
ev
er
y
in
s
tan
t w
h
en
th
e
s
y
s
tem
is
s
ec
u
r
e.
W
h
en
a
m
alicio
u
s
r
o
b
o
t
p
u
b
lis
h
es
wr
o
n
g
in
f
o
r
m
atio
n
as
r
ep
r
esen
ted
by
T
3
’
,
th
e
h
ash
g
en
er
ated
by
it
will
be
d
if
f
er
e
n
t
r
esu
ltin
g
in
b
r
ea
k
in
g
o
f
t
h
e
v
er
tical
ch
ai
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
Mu
lti
-
r
o
b
o
t a
r
ch
itectu
r
e
b
a
s
ed
o
n
h
yb
r
id
iz
ed
b
lo
ck
c
h
a
in
m
o
d
el
(
R
a
h
u
l H
a
r
is
h
K
u
ma
r
)
1513
T
h
e
HB
M
is
f
ir
s
t
m
a
d
e
up
of
h
o
r
izo
n
tally
lin
k
e
d
b
l
o
ck
s
co
r
r
esp
o
n
d
in
g
to
a
s
in
g
le
r
o
b
o
t
in
th
e
m
u
lti
-
r
o
b
o
t sy
s
tem
.
T
h
e
h
ash
g
en
e
r
ated
b
y
ea
ch
b
lo
ck
d
e
p
en
d
s
o
n
th
e
r
ec
eiv
ed
tr
an
s
ac
tio
n
at
th
a
t p
ar
ticu
lar
in
s
tan
t.
T
h
ese
tr
an
s
ac
tio
n
s
ar
e
m
ad
e
u
p
o
f
th
e
s
en
s
o
r
r
ea
d
in
g
o
f
t
h
e
r
o
b
o
t
a
n
d
m
ess
ag
es
r
ec
eiv
ed
f
r
o
m
o
th
e
r
r
o
b
o
ts
in
th
e
s
y
s
tem
.
T
h
e
m
ess
ag
es
f
r
o
m
o
th
er
r
o
b
o
ts
ar
e
s
h
ar
e
d
v
ia
s
u
b
s
cr
ib
ed
R
OS
to
p
ics.
E
ac
h
r
o
b
o
t
p
u
b
lis
h
es
th
e
s
tate
in
f
o
r
m
atio
n
o
b
tain
ed
f
r
o
m
th
e
s
en
s
o
r
r
ea
d
in
g
s
to
a
ll
th
e
o
th
er
r
o
b
o
ts
in
t
h
e
s
y
s
tem
.
T
h
e
h
ash
es
g
en
er
ated
b
y
ea
ch
r
o
b
o
t a
r
e
ex
p
ec
ted
to
b
e
th
e
s
am
e
at
ev
er
y
in
s
tan
t w
h
en
all
r
o
b
o
ts
ar
e
w
o
r
k
in
g
as p
r
o
p
er
ly
.
Ho
wev
er
,
wh
en
a
r
o
b
o
t
b
ec
o
m
es
m
alicio
u
s
,
it
g
en
er
ates
a
h
ash
by
co
m
b
in
in
g
its
o
r
ig
in
al
in
f
o
r
m
atio
n
with
leg
itima
te
tr
an
s
ac
tio
n
s
r
ec
eiv
e
d
f
r
o
m
o
th
er
clien
ts
.
T
h
e
m
ali
cio
u
s
r
o
b
o
t
s
h
ar
es
in
co
r
r
ec
t
tr
an
s
ac
tio
n
s
with
th
e
r
est
o
f
t
h
e
s
y
s
tem
d
u
e
to
e
n
d
o
g
en
o
u
s
o
r
ex
o
g
en
o
u
s
s
ec
u
r
it
y
th
r
ea
ts
,
ca
u
s
in
g
all
o
th
er
r
o
b
o
ts
to
g
e
n
er
ate
a
d
if
f
er
en
t
ty
p
e
of
h
ash
.
C
o
n
s
eq
u
en
tly
,
th
e
m
alicio
u
s
r
o
b
o
t
en
d
s
u
p
with
a
h
ash
th
at
d
if
f
er
s
f
r
o
m
th
e
r
est
o
f
th
e
r
o
b
o
ts
in
th
e
s
y
s
tem
.
Similar
ly
,
wh
en
t
h
er
e
ar
e
m
u
ltip
le
m
alicio
u
s
r
o
b
o
ts
p
r
esen
t
in
t
h
e
s
y
s
tem
,
th
ey
all
p
r
o
d
u
ce
d
if
f
er
e
n
t
an
d
u
n
iq
u
e
h
ash
es.
T
h
e
r
o
b
o
ts
th
at
ar
e
n
o
n
-
m
alicio
u
s
,
all
r
ec
eiv
e
s
im
ila
r
tr
an
s
ac
tio
n
s
f
r
o
m
th
e
s
em
i
-
d
ec
en
tr
alize
d
ar
c
h
itectu
r
e
d
is
cu
s
s
ed
in
th
e
p
r
e
v
i
o
u
s
s
ec
tio
n
,
an
d
all
g
e
n
er
ate
th
e
s
am
e
h
ash
es.
Hen
ce
,
it
is
p
o
s
s
ib
le
to
m
o
n
it
o
r
th
e
en
tire
m
u
lti
-
r
o
b
o
t
s
y
s
tem
u
s
in
g
a
ce
n
tr
alize
d
s
ec
u
r
ity
m
o
n
ito
r
i
n
g
n
o
d
e
in
th
e
R
OS
s
ec
u
r
ity
p
ac
k
ag
e.
2
.
3
.
M
ulti
-
ro
bo
t
s
y
s
t
em
s
MRS
i
s
a
r
ap
id
ly
ev
o
l
v
in
g
f
ie
ld
at
th
e
in
ter
s
ec
tio
n
o
f
r
o
b
o
tics
,
ar
tific
ial
in
tellig
en
ce
,
an
d
d
is
tr
ib
u
ted
s
y
s
tem
s
.
MRS
in
v
o
lv
e
t
h
e
c
o
o
r
d
in
atio
n
b
etwe
en
a
u
to
n
o
m
o
u
s
r
o
b
o
ts
to
ac
h
iev
e
eith
er
a
co
m
m
o
n
g
o
al
o
r
p
er
f
o
r
m
co
m
p
lex
task
s
.
I
n
a
m
u
lti
-
r
o
b
o
t
s
y
s
tem
,
th
e
r
o
b
o
ts
ar
e
eq
u
i
p
p
ed
with
s
en
s
in
g
,
co
m
p
u
tatio
n
,
a
n
d
ac
tu
atio
n
f
ac
ilit
ies
to
co
-
o
p
er
ate
with
o
th
er
r
o
b
o
ts
to
ex
ch
an
g
e
in
f
o
r
m
atio
n
an
d
s
o
lv
e
p
r
o
b
lem
s
b
y
co
llab
o
r
atio
n
.
Mu
lti
-
ag
en
t
p
a
th
p
lan
n
in
g
is
u
s
ed
in
d
is
cr
etize
d
en
v
ir
o
n
m
e
n
ts
,
wh
ich
ar
e
g
r
id
s
an
d
p
lan
ar
g
r
ap
h
s
.
T
h
e
r
o
b
o
ts
ar
e
ass
u
m
ed
to
b
e
p
o
in
t
r
o
b
o
ts
,
wh
ich
d
o
n
o
t
h
a
v
e
m
o
tio
n
c
o
n
s
tr
ai
n
ts
.
T
h
ey
ar
e
also
ca
lled
h
o
lo
n
o
m
ic
r
o
b
o
ts
.
T
h
e
p
r
o
b
lem
in
a
m
u
lti
-
ag
e
n
t
p
a
th
p
lan
n
in
g
s
y
s
tem
[
1
4
]
is
d
escr
ib
ed
wh
en
th
e
n
u
m
b
er
of
ag
en
ts
a
r
e
at
s
tar
t
l
o
ca
tio
n
s
with
p
r
ed
ef
in
e
d
g
o
al
lo
ca
tio
n
s
,
in
a
k
n
o
wn
en
v
ir
o
n
m
en
t.
T
h
e
task
is
to
f
in
d
co
llis
io
n
f
r
ee
p
ath
s
f
o
r
t
h
e
ag
en
t
f
r
o
m
th
e
s
tar
t
lo
ca
tio
n
to
th
e
g
o
al
lo
ca
tio
n
,
s
im
u
ltan
eo
u
s
ly
o
p
tim
izin
g
th
e
o
b
jectiv
e
o
f
th
e
s
y
s
tem
.
3.
L
O
CAL
I
Z
AT
I
O
N
USI
NG
H
YB
RID
I
Z
E
D
B
L
O
CK
CH
AIN MOD
E
L
On
e
o
f
th
e
a
p
p
licatio
n
s
f
o
r
th
e
p
r
o
p
o
s
ed
m
u
lti
-
r
o
b
o
t
s
y
s
tem
is
lo
ca
lizatio
n
a
n
d
th
e
r
eb
y
m
ap
p
in
g
o
f
th
e
en
v
i
r
o
n
m
e
n
t
b
y
m
u
ltip
le
r
o
b
o
ts
[
1
5
]
.
E
ac
h
r
o
b
o
t
i
n
th
e
m
u
lti
-
r
o
b
o
t
s
y
s
tem
h
as
ac
ce
s
s
to
its
o
wn
co
o
r
d
in
ate
in
f
o
r
m
atio
n
.
T
h
is
ca
n
b
e
f
r
o
m
s
en
s
o
r
s
lik
e
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
(
GPS)
,
o
d
o
m
etr
y
s
en
s
o
r
,
lid
ar
,
an
d
f
id
u
cial
m
ar
k
er
d
ete
ctio
n
.
All
th
e
r
o
b
o
ts
p
u
b
lis
h
t
h
eir
r
ec
o
r
d
ed
co
o
r
d
i
n
ates
in
f
o
r
m
o
f
m
ess
ag
es
o
n
R
OS
to
p
ic.
Simu
ltan
eo
u
s
ly
,
al
l
r
o
b
o
ts
s
u
b
s
cr
ib
e
to
th
e
r
esp
ec
tiv
e
R
OS
to
p
ics
h
o
ld
in
g
co
o
r
d
in
ate
in
f
o
r
m
atio
n
ab
o
u
t
t
h
e
p
u
b
lis
h
in
g
r
o
b
o
ts
.
H
e
n
c
e
t
h
e
r
o
b
o
t
’
s
o
w
n
l
o
c
a
l
i
z
a
tio
n
a
l
o
n
g
w
i
t
h
t
h
e
i
n
f
o
r
m
a
t
i
o
n
r
e
c
e
i
v
e
d
f
r
o
m
e
a
c
h
o
f
t
h
e
o
t
h
e
r
r
o
b
o
t
s
i
n
t
h
e
s
y
s
t
em
m
a
k
e
u
p
t
h
e
t
r
a
n
s
a
ct
i
o
n
l
is
t
f
o
r
t
h
e
H
B
MA
.
T
h
is
i
s
d
e
p
i
c
t
ed
i
n
F
i
g
u
r
e
2
.
Fig
u
r
e
2
.
L
o
ca
lizatio
n
in
f
o
r
m
a
tio
n
is
d
ec
en
tr
alize
d
a
n
d
all
r
o
b
o
ts
p
r
o
d
u
ce
h
ash
es
in
d
ep
en
d
en
tly
u
s
in
g
th
e
HB
M,
s
ec
u
r
in
g
th
e
s
y
s
tem
f
r
o
m
m
alicio
u
s
in
f
o
r
m
atio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
2
,
Ap
r
il
20
25
:
1
5
1
1
-
1
5
2
0
1514
T
o
s
ec
u
r
e
th
e
lo
ca
lizatio
n
ex
p
lain
ed
a
b
o
v
e
,
ea
ch
r
o
b
o
t
cli
en
t
in
th
e
s
ec
u
r
ity
p
ac
k
ag
e
f
o
llo
ws
th
e
alg
o
r
ith
m
s
h
o
w
n
in
alg
o
r
ith
m
in
Fig
u
r
e
3
.
All
th
e
tr
a
n
s
ac
tio
n
s
r
ec
o
r
d
ed
o
r
lis
ted
b
y
th
e
r
esp
ec
tiv
e
r
o
b
o
t
ar
e
ap
p
en
d
e
d
in
to
a
lis
t
o
f
tr
an
s
ac
tio
n
s
.
T
h
is
lis
t
i
s
co
n
v
er
ted
to
a
s
tr
in
g
f
o
r
m
at
an
d
p
ass
ed
to
a
h
ash
in
g
f
u
n
ctio
n
th
at
f
o
r
m
s
th
e
co
r
e
o
f
th
e
H
B
MA
an
d
g
iv
es
it
th
e
ch
ar
ac
t
er
is
tic
o
f
s
ec
u
r
ity
in
th
e
m
u
lti
-
r
o
b
o
t
s
y
s
tem
.
T
h
e
ch
o
s
en
h
ash
f
u
n
ctio
n
ca
n
b
e
MD
5
,
SHA
-
1
,
SHA
-
2
5
6
,
a
n
d
C
R
C
3
2
.
T
h
e
co
m
m
o
n
p
r
o
p
er
ty
o
f
all
th
ese
h
ash
f
u
n
ctio
n
s
is
th
at
ev
en
a
v
er
y
m
in
u
te
ch
an
g
e
in
th
e
tr
a
n
s
ac
tio
n
s
tr
in
g
will
ca
u
s
e
a
n
o
ticea
b
le
ch
an
g
e
in
th
e
o
u
tp
u
t
h
ash
.
T
h
is
en
s
u
r
es
th
at
th
e
s
y
s
tem
i
s
s
ec
u
r
ed
in
r
ea
l
tim
e
an
d
an
y
m
alicio
u
s
th
r
ea
t
th
at
s
ee
p
s
in
to
th
e
s
y
s
tem
is
n
o
ticea
b
le
a
n
d
ca
n
b
e
r
ec
o
r
d
ed
in
s
tan
tly
.
W
h
en
e
v
e
r
an
y
th
r
ea
t
is
r
ec
o
r
d
e
d
b
y
t
h
e
s
ec
u
r
ity
s
y
s
tem
,
a
f
lag
is
ac
tiv
ated
co
r
r
esp
o
n
d
in
g
to
th
e
m
alicio
u
s
r
o
b
o
t,
w
h
ich
f
o
r
ce
s
th
e
r
o
b
o
t
to
s
to
p
m
o
v
in
g
a
n
d
s
to
p
p
u
b
lis
h
in
g
m
alicio
u
s
in
f
o
r
m
atio
n
o
u
t t
o
th
e
m
u
lti
-
r
o
b
o
t sy
s
tem
,
th
er
eb
y
s
ec
u
r
in
g
all
th
e
o
t
h
er
ag
en
ts
.
Fig
u
r
e
3.
HB
M
an
d
s
ec
u
r
ity
m
o
n
ito
r
in
g
a
l
g
o
r
i
t
h
m
4.
P
AT
H
P
L
ANN
I
NG
US
I
NG
H
YB
RID
I
Z
E
D
B
L
O
CK
CH
AIN MOD
E
L
Similar
to
lo
ca
lizatio
n
on
HB
MA
,
co
m
m
u
n
icatio
n
-
b
a
s
e
d
p
ath
p
lan
n
i
n
g
ap
p
r
o
ac
h
es
r
eq
u
ir
e
r
o
b
o
t
s
tate
in
f
o
r
m
atio
n
b
elo
n
g
in
g
to
all
t
h
e
ag
en
ts
in
th
e
m
u
lti
-
r
o
b
o
t
s
y
s
tem
in
o
r
d
er
to
p
lan
th
eir
p
ath
s
in
a
d
ec
en
t
r
alize
d
m
an
n
er
.
Ho
wev
e
r
,
u
n
lik
e
th
e
lo
ca
lizatio
n
ap
p
licatio
n
,
th
e
s
i
ze
o
f
in
f
o
r
m
atio
n
s
h
ar
e
d
f
o
r
p
ath
p
lan
n
i
n
g
c
o
u
ld
b
e
lar
g
er
as
th
e
r
o
b
o
t
p
o
s
itio
n
,
an
g
u
lar
s
tate,
co
n
s
tr
ain
ts
an
d
k
in
em
atic
in
f
o
r
m
atio
n
am
o
n
g
o
th
er
s
is
r
eq
u
ir
ed
to
m
ak
e
in
f
o
r
m
ed
d
ec
is
io
n
s
a
b
o
u
t
th
e
p
ath
p
lan
n
in
g
s
tep
s
to
b
e
tak
en
.
He
n
ce
,
th
e
co
m
m
u
n
icatio
n
o
v
e
r
h
ea
d
wh
ile
co
n
d
u
ctin
g
p
ath
p
lan
n
in
g
f
o
r
c
o
m
m
u
n
icatio
n
-
b
ased
m
eth
o
d
s
m
ig
h
t
b
e
h
i
g
h
,
esp
ec
ially
f
o
r
a
p
p
licatio
n
s
h
av
in
g
h
ig
h
e
r
d
im
e
n
s
io
n
s
.
Ho
wev
er
,
co
u
p
lin
g
d
ec
e
n
tr
a
lized
alg
o
r
ith
m
s
with
co
m
m
u
n
icatio
n
of
s
tate
in
f
o
r
m
atio
n
in
c
r
ea
s
es
th
e
r
eli
ab
ilit
y
o
f
th
e
p
ath
p
lan
n
i
n
g
a
lg
o
r
ith
m
.
Hen
ce
a
m
o
d
if
ied
s
em
i
-
d
ec
en
tr
alize
d
m
o
d
el
f
o
r
c
o
m
m
u
n
icatio
n
in
ca
s
e
o
f
p
at
h
p
la
n
n
in
g
ap
p
licatio
n
s
is
p
r
o
p
o
s
ed
,
as
s
h
o
wn
i
n
Fig
u
r
e
4
.
I
n
th
is
p
ap
er
,
two
co
m
m
o
n
d
ec
e
n
tr
alize
d
p
ath
p
lan
n
in
g
alg
o
r
ith
m
s
,
R
VO
an
d
NM
PC
ar
e
m
o
d
if
ie
d
an
d
im
p
lem
e
n
ted
o
n
th
e
HB
MA
ar
ch
itectu
r
e
ac
c
o
r
d
in
g
to
th
e
b
lo
ck
d
iag
r
am
s
h
o
wn
in
Fig
u
r
e
4
.
Fig
u
r
e
4.
Mo
d
if
ie
d
d
ec
en
tr
aliz
ed
,
co
u
p
led
p
ath
p
lan
n
in
g
ap
p
r
o
ac
h
to
r
ed
u
ce
co
m
m
u
n
icatio
n
o
v
e
r
h
e
a
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
Mu
lti
-
r
o
b
o
t a
r
ch
itectu
r
e
b
a
s
ed
o
n
h
yb
r
id
iz
ed
b
lo
ck
c
h
a
in
m
o
d
el
(
R
a
h
u
l H
a
r
is
h
K
u
ma
r
)
1515
4
.
1
.
Rev
er
s
e
v
elo
cit
y
o
bs
t
a
cle
R
VO
is
a
d
ec
en
tr
alize
d
,
n
o
n
-
co
u
p
led
ap
p
r
o
ac
h
to
m
u
lti
-
r
o
b
o
t
p
ath
p
lan
n
in
g
th
at
r
esu
lts
in
co
llis
io
n
f
r
ee
an
d
o
s
cillatio
n
f
r
ee
n
a
v
ig
atio
n
[
1
6
]
.
E
ac
h
r
o
b
o
t
im
p
lem
en
ts
p
ath
p
lan
n
in
g
in
d
e
p
en
d
en
tly
with
n
o
co
m
m
u
n
icatio
n
with
o
th
er
r
o
b
o
ts
r
esu
ltin
g
in
r
ed
u
ce
d
co
m
m
u
n
icatio
n
o
v
er
h
ea
d
.
Ho
w
ev
er
,
th
er
e
e
x
is
ts
a
p
o
s
s
ib
ilit
y
o
f
co
llis
io
n
in
s
p
ec
ial
ca
s
es
s
u
ch
as
k
id
n
ap
p
e
d
r
o
b
o
ts
,
wh
er
e
a
s
in
g
le
ag
e
n
t
is
m
o
v
ed
to
a
n
ar
b
itra
r
y
p
o
s
itio
n
awa
y
f
r
o
m
th
e
o
r
ig
in
al
tr
ajec
to
r
y
d
u
e
to
s
o
m
e
o
u
ts
id
e
in
f
lu
en
ce
.
T
h
is
p
ap
er
s
o
lv
es
th
e
ab
o
v
e
p
r
o
b
lem
b
y
m
o
d
if
y
in
g
R
VO
[
1
7
]
to
a
co
u
p
le
d
,
co
m
m
u
n
icatio
n
b
ased
m
eth
o
d
wh
i
le
s
ec
u
r
in
g
it
u
s
in
g
th
e
HB
MA
an
d
R
OS p
latf
o
r
m
.
=
ta
n
−
−
(
1
)
=
s
in
×
_
√
(
−
)
2
+
(
−
)
2
(
2
)
=
+
(
3
)
ℎ
=
−
(
4
)
4
.
2
.
No
nli
nea
r
m
o
del
predict
iv
e
a
l
g
o
r
i
t
h
m
NM
PC
i
s
a
d
ec
en
tr
alize
d
p
ath
p
lan
n
in
g
m
eth
o
d
[
1
8
]
th
at
ac
co
u
n
ts
f
o
r
f
u
ll
v
eh
icle
d
y
n
am
i
cs
with
o
u
t
d
ep
en
d
i
n
g
o
n
p
r
e
-
p
lan
n
ed
tr
aj
ec
to
r
ies.
I
t
is
a
m
o
d
el
-
b
ased
co
n
tr
o
ller
wh
e
r
e
co
m
p
lete
v
e
h
icle
d
y
n
am
ics
ar
e
tak
en
in
to
ac
co
u
n
t
to
p
lan
p
o
s
s
ib
le
co
m
m
an
d
s
at
ev
er
y
in
s
tan
t
of
th
e
r
o
b
o
t
m
o
v
em
en
t.
A
co
n
tr
o
ller
f
o
r
m
u
latio
n
tak
es
th
e
s
y
s
tem
v
ec
to
r
r
ep
r
esen
tin
g
th
e
s
tate
o
f
th
e
r
o
b
o
t
an
d
co
n
tr
o
l
in
p
u
t
v
ec
to
r
a
s
th
e
in
p
u
t.
T
h
ese
p
ar
am
eter
s
ar
e
p
ass
ed
th
r
o
u
g
h
a
co
s
t
f
u
n
ctio
n
to
attain
th
e
co
n
tr
o
l
v
elo
city
f
o
r
co
llis
io
n
av
o
id
a
n
ce
[
1
9
]
.
W
h
ile
th
is
m
o
d
el
is
s
ca
lab
le
a
n
d
s
u
itab
le
f
o
r
a
d
y
n
am
ic
en
v
i
r
o
n
m
en
t
wh
ile
b
ein
g
d
ec
en
tr
al
ized
,
it
is
s
en
s
itiv
e
to
m
o
d
el
in
ac
cu
r
ac
ies
an
d
is
c
o
m
p
u
tatio
n
ally
c
o
m
p
lex
.
T
h
is
p
ap
er
m
o
d
if
ies
th
e
wo
r
k
in
g
of
tr
ad
itio
n
al
NM
PC
[
2
0
]
–
[
2
2
]
ex
ec
u
tio
n
to
r
e
d
u
c
e
th
e
co
m
m
u
n
icatio
n
o
v
er
h
e
ad
an
d
th
e
av
er
a
g
e
o
b
s
tacle
m
atr
ix
s
ize
to
be
co
n
s
id
er
ed
by
th
e
s
y
s
tem
,
th
er
eb
y
s
o
lv
in
g
th
e
p
r
o
b
lem
o
f
co
m
p
u
tatio
n
al
c
o
m
p
lex
ity
.
T
h
e
s
ec
u
r
ity
m
o
n
ito
r
th
at
co
m
es
with
th
e
HB
MA
also
h
elp
s
d
ec
r
ea
s
e
th
e
m
o
d
el
in
ac
cu
r
ac
ies
by
d
etec
tin
g
m
alicio
u
s
clien
ts
an
d
tak
in
g
ac
tio
n
to
m
itig
ate
wr
o
n
g
in
f
o
r
m
atio
n
s
p
r
ea
d
.
(
)
=
1
(
)
+
2
(
)
(
5
)
1
(
)
=
|
|
−
|
|
(
6
)
=
[
−
,
−
]
(
7
)
2
(
)
=
∑
1
+
(
×
(
−
2
×
_
)
)
(
8
)
5.
SE
CUR
I
T
Y
M
O
N
I
T
O
R
I
N
G
A
ce
n
tr
al
s
ec
u
r
ity
m
o
n
ito
r
in
g
[
2
3
]
n
o
d
e
is
r
u
n
b
y
th
e
HB
MA
wh
en
r
o
b
o
ts
ar
e
co
m
m
u
n
icatin
g
an
d
p
lan
n
in
g
f
o
r
th
em
s
elv
es
in
a
d
ec
en
tr
alize
d
f
ash
i
o
n
.
T
h
e
n
o
d
e
f
o
llo
ws
s
im
p
le
lo
g
ic
o
f
h
a
s
h
co
m
p
ar
is
o
n
an
d
f
lag
s
ettin
g
to
d
etec
t
m
alicio
u
s
r
o
b
o
ts
in
t
h
e
s
y
s
tem
an
d
ta
k
e
ac
tio
n
t
o
k
ill
th
em
.
As
s
h
o
wn
in
alg
o
r
ith
m
in
Fig
u
r
e
3
,
th
e
s
ec
u
r
ity
m
o
n
ito
r
n
o
d
e
s
u
b
s
cr
ib
es
to
h
a
s
h
es
f
r
o
m
all
r
o
b
o
ts
in
th
e
s
ec
u
r
ity
s
y
s
tem
s
im
u
ltan
eo
u
s
ly
.
I
n
ca
s
e
o
f
a
s
in
g
le
r
o
b
o
t
b
ein
g
m
alicio
u
s
,
a
m
is
m
atch
in
h
ash
es
ca
n
d
etec
t
th
e
m
alicio
u
s
r
o
b
o
t
ea
s
ily
.
T
h
e
h
ash
f
r
o
m
a
r
o
b
o
t
th
at
d
o
es
n
o
t
m
atch
with
th
e
r
est
o
f
th
e
h
ash
es
r
ec
eiv
ed
is
d
ec
lar
ed
m
alicio
u
s
an
d
th
e
f
lag
co
r
r
esp
o
n
d
in
g
to
th
at
r
o
b
o
t
is
e
n
ab
le
d
.
T
h
is
f
lag
will
tak
e
ac
tio
n
to
k
ill
t
h
e
m
alicio
u
s
ag
en
t,
i.e
.
th
e
m
alicio
u
s
r
o
b
o
t
is
m
ad
e
to
h
alt
an
d
s
to
p
tr
an
s
m
itti
n
g
in
f
o
r
m
atio
n
to
t
h
e
r
est o
f
th
e
s
y
s
tem
.
_
=
1
−
(
)
(
9
)
2
−
1
=
{
−
,
gr
ow
th
in
ma
l
ic
ious
b
ot
c
ount
0
,
sta
b
l
e
err
or
+
,
d
e
cline
in
ma
l
i
ci
o
u
s
bot
cou
nt
(
1
0
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
2
,
Ap
r
il
20
25
:
1
5
1
1
-
1
5
2
0
1516
W
h
en
th
er
e
is
a
m
is
m
atch
o
f
m
u
ltip
le
h
ash
es
o
n
e
a
f
ter
t
h
e
o
th
er
,
m
alicio
u
s
r
o
b
o
ts
ar
e
k
illed
in
s
eq
u
en
tial
f
ash
io
n
.
Ho
we
v
er
,
wh
en
m
u
ltip
le
r
o
b
o
ts
b
ec
o
m
e
m
alicio
u
s
p
ar
allelly
,
th
e
p
er
ce
n
tag
e
o
f
r
o
b
o
ts
u
n
d
er
attac
k
n
ee
d
s
to
b
e
m
o
n
ito
r
ed
.
T
h
e
p
er
ce
n
tag
e
o
f
m
al
icio
u
s
r
o
b
o
ts
in
th
e
s
ec
u
r
ity
s
y
s
tem
is
m
o
n
ito
r
e
d
u
s
in
g
(
9
)
,
wh
er
e
r
ep
r
esen
ts
th
e
co
u
n
t
o
f
r
o
b
o
ts
with
th
e
m
aj
o
r
ity
h
ash
an
d
r
ep
r
esen
ts
th
e
to
tal
n
u
m
b
er
o
f
r
o
b
o
ts
in
th
e
s
y
s
tem
.
T
h
e
v
ar
i
ab
le
ma
l_
p
erc
in
d
icate
s
th
e
p
er
ce
n
tag
e
o
f
m
alicio
u
s
r
o
b
o
ts
p
r
esen
t
at
an
y
g
iv
en
tim
e.
Ad
d
itio
n
ally
,
th
e
g
r
o
w
th
o
f
m
alicio
u
s
r
o
b
o
ts
is
al
s
o
m
o
n
ito
r
ed
u
s
in
g
(
1
0
)
.
I
n
th
is
eq
u
atio
n
,
2
r
ep
r
esen
ts
th
e
cu
r
r
en
t
co
u
n
t
o
f
m
alicio
u
s
clien
ts
,
w
h
ile
1
r
ep
r
esen
ts
th
e
co
u
n
t
o
f
m
alici
o
u
s
clien
ts
in
th
e
im
m
ed
iate
p
r
ev
i
o
u
s
in
s
tan
ce
.
I
f
n
ew
m
alicio
u
s
clien
ts
ar
e
i
n
tr
o
d
u
ce
d
in
to
th
e
s
y
s
tem
at
a
f
aster
r
ate
th
an
th
e
s
ec
u
r
ity
m
o
n
ito
r
ca
n
elim
in
at
e
th
em
,
a
n
em
er
g
en
c
y
aler
t
i
s
tr
ig
g
er
ed
to
p
r
o
m
p
t
m
an
u
a
l
in
ter
v
en
tio
n
an
d
p
r
ev
en
t th
e
s
y
s
tem
f
r
o
m
b
ein
g
co
m
p
r
o
m
is
ed
.
6.
E
XP
E
R
I
M
E
N
T
S
AND
SI
M
U
L
AT
I
O
NS
I
n
o
r
d
er
t
o
d
em
o
n
s
tr
ate
th
e
HB
MA
co
n
ce
p
t
p
r
o
p
o
s
ed
in
th
is
p
ap
er
,
b
o
th
h
ar
d
war
e
an
d
s
o
f
twar
e
s
etu
p
s
wer
e
cr
ea
ted
.
T
r
u
e
to
th
e
m
in
im
alis
tic
n
atu
r
e
o
f
s
war
m
r
o
b
o
ts
,
s
m
all
an
d
lig
h
tweig
h
t
r
o
b
o
ts
wer
e
cr
ea
ted
.
E
ac
h
r
o
b
o
t
was
o
f
s
ize
1
4
×1
2
×
1
1
c
m
an
d
weig
h
ed
4
0
0
g
.
E
ac
h
r
o
b
o
t
h
ad
m
in
im
a
l
p
r
o
ce
s
s
in
g
p
o
wer
o
n
b
o
a
r
d
.
A
No
d
eM
C
U
b
o
ar
d
wh
ich
r
u
n
s
o
n
E
SP
8
2
6
6
m
ic
r
o
co
n
tr
o
ller
was
u
s
ed
to
g
et
in
s
tr
u
ctio
n
s
f
r
o
m
a
R
OS
m
aster
n
o
d
e
v
ia
Wi
-
Fi
.
R
OS
n
o
d
es
wer
e
in
itialized
in
d
iv
id
u
ally
f
o
r
ea
ch
r
o
b
o
t
to
m
ak
e
d
ec
is
io
n
s
in
d
ec
en
tr
alize
d
f
ash
io
n
.
R
asp
b
er
r
y
Pi
[
2
4
]
ca
n
also
b
e
u
s
ed
f
o
r
th
e
s
am
e
ap
p
licatio
n
a
n
d
R
OS
n
o
d
es
ca
n
r
u
n
lo
ca
lly
o
n
th
e
p
r
o
ce
s
s
o
r
s
in
ce
R
OS
s
u
p
p
o
r
ts
d
is
tr
ib
u
ted
ar
c
h
itectu
r
e
wh
er
e
d
i
f
f
er
en
t
n
o
d
e
s
ca
n
b
e
co
n
n
ec
ted
th
r
o
u
g
h
d
if
f
er
e
n
t
m
ac
h
in
es.
Ho
wev
er
,
f
o
r
th
is
ap
p
licatio
n
,
No
d
eM
C
Us
wer
e
u
s
ed
an
d
n
o
d
es
wer
e
r
em
o
tely
r
u
n
b
y
s
en
d
in
g
co
m
m
an
d
s
to
th
e
r
o
b
o
t
th
r
o
u
g
h
Wi
-
Fi
.
E
ac
h
r
o
b
o
t
r
u
n
s
o
n
2
3
.
7
V
L
i
-
io
n
b
atter
ies,
a
p
air
o
f
b
r
u
s
h
less
o
u
tr
u
n
n
er
s
(
B
O)
m
o
to
r
s
an
d
h
as
a
s
m
all
s
er
v
o
f
o
r
d
r
o
p
p
in
g
o
b
jects.
W
ith
n
o
s
en
s
o
r
o
n
b
o
ar
d
,
th
e
r
o
b
o
t
r
elies
o
n
Ar
Uco
[
2
5
]
m
ar
k
er
s
s
tu
ck
to
th
e
to
p
p
late
an
d
an
o
v
e
r
h
ea
d
ca
m
e
r
a
s
etu
p
f
o
r
its
lo
ca
lizatio
n
.
T
h
ese
r
o
b
o
ts
wer
e
u
s
ed
to
d
e
m
o
n
s
tr
ate
s
ec
u
r
ed
lo
ca
lizatio
n
u
s
in
g
HB
MA
.
7.
RE
SU
L
T
S
7
.
1
.
Secure
d
lo
ca
liza
t
io
n
T
h
e
R
OS
p
ac
k
ag
e
was
cr
ea
te
d
ac
co
r
d
in
g
to
th
e
HB
MA
co
n
ce
p
t
d
is
cu
s
s
ed
in
th
e
p
r
ev
i
o
u
s
s
ec
tio
n
s
.
Dif
f
er
en
t
n
o
d
es
wer
e
in
itialized
f
o
r
i
n
d
iv
id
u
al
r
o
b
o
ts
a
n
d
th
e
s
ec
u
r
ity
m
o
n
ito
r
n
o
d
e
was
r
u
n
p
a
r
allel
to
th
e
lau
n
ch
in
g
o
f
all
r
o
b
o
t
n
o
d
es.
I
n
th
e
f
ir
s
t
s
tag
e,
an
im
atio
n
o
n
m
at
p
lo
tlib
was
u
s
ed
to
v
i
s
u
alize
th
e
s
ec
u
r
e
d
lo
ca
lizatio
n
as sh
o
wn
in
Fig
u
r
e
5
.
R
o
b
o
t c
lien
ts
wer
e
p
u
b
lis
h
in
g
to
o
th
er
a
g
en
ts
in
th
e
s
y
s
tem
an
d
s
u
b
s
cr
ib
i
n
g
f
r
o
m
o
t
h
er
r
o
b
o
ts
s
im
u
ltan
eo
u
s
ly
u
s
in
g
th
e
p
u
b
lis
h
er
-
s
u
b
s
c
r
ib
er
m
o
d
el
u
s
ed
to
t
r
an
s
m
it
R
OS
m
es
s
ag
es,
an
d
n
o
d
elay
o
r
er
r
o
r
in
in
f
o
r
m
atio
n
ex
ch
an
g
e
was o
b
s
er
v
ed
.
T
h
e
s
ec
u
r
ity
m
o
n
ito
r
in
g
n
o
d
e
co
n
tin
u
o
u
s
ly
r
ec
o
r
d
ed
h
ash
co
m
p
ar
is
o
n
s
an
d
k
illed
an
y
m
alicio
u
s
r
o
b
o
ts
as
s
o
o
n
as
th
r
ea
t
was
d
etec
ted
.
On
e
s
u
ch
ex
am
p
le
wh
e
r
e
o
n
e
o
f
th
e
r
o
b
o
ts
in
th
e
3
ag
e
n
t m
u
lti
-
r
o
b
o
t sy
s
tem
wen
t m
al
icio
u
s
an
d
th
e
s
ec
u
r
ity
m
o
n
ito
r
to
o
k
ac
tio
n
to
k
ill
th
e
r
o
b
o
t w
h
ile
s
en
d
in
g
o
u
t a
l
er
ts
ca
n
b
e
s
ee
n
in
th
e
Fig
u
r
e
5
.
Fig
u
r
e
5.
Ma
tp
lo
t
s
im
u
latio
n
of
s
ec
u
r
ed
l
o
c
a
l
i
z
at
i
o
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
Mu
lti
-
r
o
b
o
t a
r
ch
itectu
r
e
b
a
s
ed
o
n
h
yb
r
id
iz
ed
b
lo
ck
c
h
a
in
m
o
d
el
(
R
a
h
u
l H
a
r
is
h
K
u
ma
r
)
1517
Similar
ly
in
th
e
n
ex
t
s
tag
e,
t
h
e
s
am
e
s
ec
u
r
ed
l
o
ca
lizatio
n
c
o
n
ce
p
t
was
im
p
lem
e
n
ted
p
r
ac
tically
.
T
h
e
cu
s
to
m
r
o
b
o
ts
d
escr
ib
ed
in
th
e
p
r
ev
io
u
s
s
ec
tio
n
wer
e
u
s
ed
f
o
r
th
is
p
u
r
p
o
s
e.
Ar
Uco
m
ar
k
er
s
o
n
to
p
o
f
ea
ch
r
o
b
o
t
wer
e
u
s
ed
t
o
r
ec
o
r
d
lo
c
aliza
tio
n
in
f
o
r
m
atio
n
.
An
o
v
e
r
h
ea
d
ca
m
er
a
s
tr
ea
m
in
g
to
ea
ch
in
d
i
v
id
u
al
r
o
b
o
t
n
o
d
e
was
u
s
ed
to
attain
s
tate
in
f
o
r
m
atio
n
f
o
r
th
e
p
ar
ticu
la
r
I
D
b
elo
n
g
in
g
to
th
e
r
o
b
o
t
n
o
d
e
as
s
h
o
wn
in
th
e
Fig
u
r
e
6
.
T
h
e
m
u
lti
-
r
o
b
o
t sy
s
tem
was a
b
le
to
lo
ca
lize
all
r
o
b
o
ts
in
a
s
ec
u
r
ed
f
ash
io
n
.
W
h
en
er
r
o
r
was in
d
u
ce
d
m
an
u
ally
to
o
n
e
o
f
th
e
r
o
b
o
ts
,
th
e
s
y
s
tem
ag
ain
d
etec
ted
th
e
th
r
ea
t a
n
d
k
illed
th
e
m
alicio
u
s
clien
t,
i.e
.
s
to
p
p
ed
th
e
m
alicio
u
s
r
o
b
o
t’
s
m
o
v
em
e
n
t a
n
d
s
to
p
p
ed
p
u
b
lis
h
in
g
m
es
s
ag
es f
r
o
m
th
at
ag
en
t.
Hen
ce
,
it wa
s
s
u
cc
ess
f
u
lly
v
er
if
ied
th
at
th
e
lo
ca
lizatio
n
o
f
ag
en
ts
in
th
e
m
u
lti
-
r
o
b
o
t
s
y
s
tem
was
im
p
lem
en
ted
i
n
a
s
ec
u
r
ed
,
s
em
i
-
d
ec
en
tr
alize
d
f
ash
io
n
as
p
er
th
e
o
b
jectiv
e
an
d
th
e
HB
MA
p
r
ev
en
ted
th
e
en
tire
s
y
s
tem
f
r
o
m
b
ein
g
co
m
p
r
o
m
is
ed
wh
en
a
n
y
s
ec
u
r
i
ty
was in
d
u
ce
d
.
Fig
u
r
e
6.
Secu
r
ed
lo
ca
lizatio
n
im
p
lem
en
ted
on
p
h
y
s
ical
r
o
b
o
t
s
7
.
2
.
O
ptim
ized
m
ulti
-
ro
bo
t
pa
t
h
p
l
a
nn
in
g
A
s
ep
ar
ate
R
OS
p
ac
k
ag
e
wa
s
d
ev
elo
p
e
d
to
test
th
e
a
r
ch
it
ec
tu
r
e’
s
co
m
p
atib
ilit
y
with
m
u
lti
-
r
o
b
o
t
p
ath
p
la
n
n
in
g
alg
o
r
ith
m
s
.
T
h
e
r
esu
lts
wer
e
v
is
u
alize
d
a
n
d
a
n
aly
s
is
was
p
er
f
o
r
m
ed
u
s
in
g
a
m
atp
lo
tlib
an
im
atio
n
.
As
ex
p
lain
ed
in
t
h
e
p
r
ev
io
u
s
s
ec
tio
n
s
,
th
e
R
VO
m
eth
o
d
an
d
th
e
NM
PC
m
eth
o
d
wer
e
b
o
t
h
m
o
d
if
ied
to
b
e
co
m
m
u
n
icatio
n
b
ased
,
co
u
p
led
an
d
d
ec
en
t
r
alize
d
alg
o
r
ith
m
s
with
r
ed
u
c
ed
co
m
m
u
n
icatio
n
o
v
er
h
ea
d
.
B
o
th
th
e
al
g
o
r
ith
m
s
wer
e
s
u
cc
ess
f
u
lly
test
ed
f
o
r
co
llis
io
n
f
r
ee
a
u
to
n
o
m
o
u
s
n
av
ig
atio
n
b
o
th
i
n
p
r
esen
ce
o
f
s
tatic
an
d
d
y
n
am
ic
o
b
s
tacle
s
.
T
h
e
r
o
b
o
ts
wer
e
r
ea
c
h
in
g
t
h
eir
g
o
als
s
u
cc
ess
f
u
lly
wh
ile
co
m
m
u
n
icatin
g
an
d
co
o
r
d
in
ati
n
g
with
ea
ch
o
th
er
th
r
o
u
g
h
th
e
p
u
b
lis
h
er
-
s
u
b
s
cr
ib
e
r
m
o
d
el
o
f
R
OS.
T
h
e
av
er
ag
e
o
f
c
o
m
p
u
tatio
n
tim
e
to
ca
lcu
late
c
o
n
tr
o
l
v
elo
city
at
ea
ch
in
s
tan
t
o
f
n
a
v
ig
a
tio
n
f
r
o
m
s
tar
t
to
g
o
al
o
f
o
n
e
p
ar
ticu
lar
r
o
b
o
t
was
ca
lcu
lated
a
n
d
r
ec
o
r
d
ed
as
th
e
n
u
m
b
e
r
o
f
o
b
s
tacle
s
in
cr
ea
s
ed
.
I
t
was
o
b
s
er
v
ed
th
at
R
VO
was
a
f
a
s
ter
alg
o
r
ith
m
co
m
p
ar
e
d
to
NM
PC
,
tak
in
g
les
s
tim
e
to
c
o
m
p
u
te
th
e
co
n
tr
o
l
v
elo
cities
in
p
r
esen
ce
o
f
o
b
s
tacle
s
as
s
ee
n
in
T
ab
le
1
.
Ho
wev
er
,
it
ca
n
b
e
s
ee
n
th
at
NM
PC
is
le
s
s
s
en
s
itiv
e
to
th
e
in
cr
ea
s
e
in
n
u
m
b
er
o
f
o
b
s
tacle
s
as
co
m
p
ar
ed
to
R
VO.
W
h
en
th
e
n
u
m
b
er
o
f
o
b
s
tacle
s
is
in
cr
ea
s
ed
f
r
o
m
1
to
4
,
th
e
s
p
ee
d
o
f
th
e
alg
o
r
ith
m
d
ec
r
ea
s
es 2
.
5
6
tim
es f
o
r
R
VO
an
d
1
.
1
7
tim
es f
o
r
NM
PC
ap
p
r
o
x
im
ately
.
T
ab
le
1
.
Me
asu
r
em
e
n
t
of
a
v
er
ag
e
co
m
p
u
tatio
n
tim
e
f
o
r
d
if
f
e
r
en
t
m
u
lti
-
r
o
b
o
t
p
ath
p
lan
n
i
n
g
alg
o
r
ith
m
s
on
HB
MA
in
m
illi
s
ec
o
n
d
s
N
u
mb
e
r
of
o
b
s
t
a
c
l
e
s
R
V
O
N
M
P
C
1
0
.
6
3
5
9
8
1
4
.
5
8
8
4
5
2
1
.
0
0
0
6
2
1
9
.
6
0
3
1
4
3
1
.
3
3
3
8
0
2
3
.
2
4
9
4
7
4
1
.
6
3
0
4
3
2
5
.
1
1
5
4
3
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
2
,
Ap
r
il
20
25
:
1
5
1
1
-
1
5
2
0
1518
Ad
d
itio
n
ally
,
it
ca
n
b
e
o
b
s
er
v
ed
f
r
o
m
th
e
Fig
u
r
e
7
t
h
at
th
e
p
ath
len
g
t
h
tak
e
n
b
y
R
VO
is
s
h
o
r
ter
t
h
an
th
at
of
NM
PC
m
ak
in
g
it
m
o
r
e
o
p
tim
al
f
o
r
n
a
v
ig
atio
n
.
T
h
e
s
am
e
co
n
clu
s
io
n
can
be
m
ad
e
by
o
b
s
er
v
in
g
T
a
b
l
e
2
.
We
can
also
s
ee
th
at
NM
PC
im
p
r
o
v
es
m
u
ch
f
aster
with
d
ec
r
ea
s
e
in
n
u
m
b
er
of
o
b
s
tacle
s
,
b
u
t
R
VO
more
o
r
less
tak
es
th
e
s
am
e
p
ath
len
g
th
with
a
n
y
n
u
m
b
er
o
f
o
b
s
tacle
s
.
I
n
a
d
y
n
am
ic
en
v
ir
o
n
m
en
t
wh
en
th
e
n
u
m
b
er
o
f
o
b
s
tacle
s
k
ee
p
in
c
r
ea
s
in
g
,
NM
PC
tak
es
s
af
er
co
l
lis
io
n
f
r
ee
p
ath
s
co
m
p
ar
ed
to
R
VO,
wh
ich
h
as
a
ten
d
en
cy
t
o
r
ea
ch
v
er
y
clo
s
e
to
th
e
o
b
s
tacle
.
Fig
u
r
e
7.
R
VO
an
d
NM
PC
s
im
u
latio
n
on
H
B
M
A
T
ab
le
2.
Me
asu
r
em
en
t
of
p
ath
len
g
th
f
o
r
d
i
f
f
er
en
t
m
u
lti
-
r
o
b
o
t
p
ath
p
lan
n
i
n
g
al
g
o
r
ith
m
s
on
HB
MA
in
m
illi
s
ec
o
n
d
s
N
u
mb
e
r
of
o
b
s
t
a
c
l
e
s
R
V
O
N
M
P
C
1
1
3
.
2
8
2
8
7
.
5
9
9
9
2
2
2
.
8
8
7
9
7
.
5
9
9
9
3
2
7
.
8
0
1
0
7
.
5
9
9
9
4
3
1
.
0
8
6
3
7
.
7
4
9
9
8.
CO
NCLU
SI
O
N
I
n
th
is
p
ap
e
r
,
a
n
o
v
el
HB
MA
b
ased
ar
ch
itectu
r
e
is
p
r
o
p
o
s
e
d
to
r
u
n
o
n
a
R
OS
p
ac
k
a
g
e,
i
n
to
wh
ich
alg
o
r
ith
m
s
f
o
r
v
ar
io
u
s
m
u
lti
-
r
o
b
o
t
ap
p
licatio
n
s
lik
e
lo
ca
lizatio
n
,
m
ap
p
in
g
an
d
m
u
lti
-
ag
en
t
au
to
n
o
m
o
u
s
n
av
ig
atio
n
ca
n
b
e
in
teg
r
ated
.
All
d
ec
is
io
n
s
ar
e
im
p
lem
en
ted
b
y
in
d
iv
id
u
al
r
o
b
o
ts
r
u
n
n
i
n
g
th
e
alg
o
r
ith
m
s
in
a
d
ec
en
tr
alize
d
f
ash
io
n
w
h
ile
a
ce
n
tr
alize
d
s
ec
u
r
ity
m
o
n
ito
r
is
u
s
ed
to
d
etec
t
s
ec
u
r
ity
th
r
ea
ts
an
d
tak
e
ac
tio
n
to
m
itig
ate
th
e
s
p
r
ea
d
of
m
alicio
u
s
in
f
o
r
m
atio
n
.
T
h
is
p
r
o
v
es
to
s
u
cc
es
s
f
u
lly
s
af
eg
u
ar
d
th
e
lo
ca
lizatio
n
an
d
p
ath
p
lan
n
in
g
alg
o
r
ith
m
s
e
v
en
wh
en
th
ey
ar
e
co
m
m
u
n
icatio
n
b
ased
an
d
th
er
e
is
th
r
ea
t
o
f
m
alicio
u
s
in
f
o
r
m
atio
n
b
ein
g
s
h
ar
ed
.
T
h
e
co
n
ce
p
t
of
f
id
u
cial
m
ar
k
er
d
etec
tio
n
f
o
r
r
o
b
o
t
lo
ca
lizatio
n
,
R
VO
an
d
N
MPC
m
eth
o
d
s
f
o
r
p
ath
p
lan
n
in
g
ar
e
u
s
ed
f
o
r
im
p
lem
en
tatio
n
o
f
th
e
d
is
cu
s
s
ed
m
u
lti
-
r
o
b
o
t
a
p
p
licatio
n
s
.
Ad
d
itio
n
all
y
,
m
o
d
if
icatio
n
is
done
to
th
e
two
p
ath
p
lan
n
in
g
alg
o
r
ith
m
s
to
r
ed
u
ce
th
e
co
m
m
u
n
icat
io
n
o
v
er
h
ea
d
an
d
co
m
p
u
tatio
n
al
co
m
p
lex
ity
o
f
p
ath
d
ec
en
tr
alize
d
p
ath
p
la
n
n
in
g
.
T
h
e
alg
o
r
ith
m
s
ar
e
test
e
d
o
n
b
o
th
Ma
tp
lo
t
Simu
latio
n
s
an
d
cu
s
to
m
-
m
ad
e
p
h
y
s
ical
s
war
m
r
o
b
o
ts
,
b
u
ilt
u
s
in
g
th
e
R
OS
f
r
am
ewo
r
k
.
An
aly
zin
g
r
esu
lts
f
r
o
m
m
o
d
if
ie
d
R
VO
an
d
NM
PC
m
eth
o
d
s
,
v
ar
io
u
s
p
ar
am
et
er
s
s
u
ch
as
s
p
ee
d
of
co
n
t
r
o
l
v
elo
city
co
m
p
u
tatio
n
,
s
en
s
itiv
ity
to
n
u
m
b
er
of
o
b
s
tacle
s
an
d
p
ath
len
g
th
ar
e
u
s
ed
to
co
m
p
a
r
e
th
e
p
er
f
o
r
m
an
ce
of
th
e
two
alg
o
r
ith
m
s
.
Fu
tu
r
e
s
co
p
e
of
th
e
p
ap
er
in
cl
u
d
es
in
teg
r
atin
g
m
o
r
e
m
u
lti
-
r
o
b
o
t
ap
p
licatio
n
s
s
u
ch
as
tr
ajec
to
r
y
p
lan
n
in
g
an
d
task
allo
ca
tio
n
in
t
o
th
e
ar
ch
it
ec
tu
r
e
wh
ile
r
ed
u
cin
g
th
e
co
m
p
u
tatio
n
al
c
o
m
p
lex
ity
o
f
th
e
alg
o
r
ith
m
s
r
u
n
n
in
g
o
n
ea
ch
r
o
b
o
t.
Dec
en
tr
alizin
g
th
e
s
ec
u
r
ity
m
o
n
ito
r
n
o
d
e
al
o
n
g
with
th
e
alg
o
r
ith
m
s
r
u
n
n
in
g
on
each
r
o
b
o
t
will
cr
ea
te
a
f
u
lly
d
ec
en
tr
alize
d
a
r
ch
itectu
r
e
th
at
is
s
af
er
f
r
o
m
s
ec
u
r
ity
th
r
ea
ts
an
d
h
as
r
ed
u
c
ed
co
m
m
u
n
icatio
n
o
v
er
h
ea
d
.
T
h
is
p
ap
er
h
as
test
ed
th
e
lo
ca
lizatio
n
an
d
p
ath
p
lan
n
in
g
alg
o
r
ith
m
s
f
o
r
g
r
o
u
n
d
-
b
a
s
e
d
r
o
b
o
ts
on
b
o
th
p
h
y
s
ical
s
y
s
tem
s
an
d
on
s
im
u
latio
n
s
.
Fu
tu
r
e
wo
r
k
can
in
c
lu
d
e
ae
r
ial
v
eh
icles
an
d
m
an
i
p
u
lato
r
s
y
s
tem
s
to
in
cr
ea
s
e
th
e
d
im
e
n
s
io
n
ality
o
r
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
in
th
e
r
o
b
o
ts
an
d
c
o
n
d
u
ct
test
s
f
o
r
t
h
e
HB
MA
s
u
p
p
o
r
t
on
h
ig
h
er
o
r
d
er
s
y
s
tem
s
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Mitig
ati
o
n
of
p
a
r
allel
s
ec
u
r
ity
th
r
ea
ts
is
an
o
th
er
ar
ea
of
s
tu
d
y
f
u
tu
r
e
wo
r
k
ca
n
f
o
cu
s
o
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2088
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1519
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p
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tr
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o
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p
r
o
jec
t.
RE
F
E
R
E
NC
E
S
[
1
]
R
.
N
.
D
a
r
m
a
n
i
n
a
n
d
M
.
K
.
B
u
g
e
j
a
,
“
A
r
e
v
i
e
w
o
n
m
u
l
t
i
-
r
o
b
o
t
s
y
s
t
e
ms
c
a
t
e
g
o
r
i
s
e
d
b
y
a
p
p
l
i
c
a
t
i
o
n
d
o
m
a
i
n
,
”
i
n
2
0
1
7
2
5
t
h
Me
d
i
t
e
rr
a
n
e
a
n
C
o
n
f
e
r
e
n
c
e
o
n
C
o
n
t
r
o
l
a
n
d
A
u
t
o
m
a
t
i
o
n
(
ME
D
)
,
J
u
l
.
2
0
1
7
,
p
p
.
7
0
1
–
7
0
6
,
d
o
i
:
1
0
.
1
1
0
9
/
M
ED
.
2
0
1
7
.
7
9
8
4
2
0
0
.
[
2
]
Á
.
M
a
d
r
i
d
a
n
o
,
A
.
A
l
-
K
a
f
f
,
D
.
M
a
r
t
í
n
,
a
n
d
A
.
d
e
l
a
Esc
a
l
e
r
a
,
“
Tr
a
j
e
c
t
o
r
y
p
l
a
n
n
i
n
g
f
o
r
mu
l
t
i
-
r
o
b
o
t
s
y
st
e
m
s:
M
e
t
h
o
d
s
a
n
d
a
p
p
l
i
c
a
t
i
o
n
s,
”
E
x
p
e
rt
S
y
st
e
m
s w
i
t
h
Ap
p
l
i
c
a
t
i
o
n
s
,
v
o
l
.
1
7
3
,
p
.
1
1
4
6
6
0
,
J
u
l
.
2
0
2
1
,
d
o
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:
1
0
.
1
0
1
6
/
j
.
e
sw
a
.
2
0
2
1
.
1
1
4
6
6
0
.
[
3
]
R
.
H
.
K
u
m
a
r
a
n
d
G
.
M
.
S
u
b
r
a
m
a
n
i
a
n
,
“
M
u
l
t
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-
r
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b
o
t
se
c
u
r
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sy
s
t
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m
b
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p
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sy
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t
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m
a
n
d
h
y
b
r
i
d
i
z
e
d
b
l
o
c
k
c
h
a
i
n
mo
d
e
l
,
”
i
n
2
0
2
2
I
EEE
3
rd
G
l
o
b
a
l
C
o
n
f
e
re
n
c
e
f
o
r
A
d
v
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m
e
n
t
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T
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(
G
C
AT)
,
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.
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p
.
1
–
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,
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C
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T
5
5
3
6
7
.
2
0
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.
9
9
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1
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1
8
.
[
4
]
J.
Y
u
a
n
d
S
.
M
.
La
V
a
l
l
e
,
“
O
p
t
i
m
a
l
mu
l
t
i
r
o
b
o
t
p
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t
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p
l
a
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n
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n
g
o
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g
r
a
p
h
s
:
c
o
m
p
l
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a
l
g
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ms
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n
d
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f
f
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t
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v
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h
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u
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t
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c
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,
”
I
E
EE
T
ra
n
s
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t
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s
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n
R
o
b
o
t
i
c
s
,
v
o
l
.
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.
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p
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6
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–
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t
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0
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/
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O
.
2
0
1
6
.
2
5
9
3
4
4
8
.
[
5
]
J.
Li
,
J.
W
u
,
J
.
Li
,
A
.
K
.
B
a
s
h
i
r
,
M
.
J.
P
i
r
a
n
,
a
n
d
A
.
A
n
j
u
m,
“
B
l
o
c
k
c
h
a
i
n
-
b
a
se
d
t
r
u
s
t
e
d
g
e
k
n
o
w
l
e
d
g
e
i
n
f
e
r
e
n
c
e
o
f
m
u
l
t
i
-
r
o
b
o
t
sy
st
e
ms
f
o
r
c
o
l
l
a
b
o
r
a
t
i
v
e
t
a
s
k
s,”
I
EEE
C
o
m
m
u
n
i
c
a
t
i
o
n
s
M
a
g
a
z
i
n
e
,
v
o
l
.
5
9
,
n
o
.
7
,
p
p
.
9
4
–
1
0
0
,
Ju
l
.
2
0
2
1
,
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o
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:
1
0
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1
1
0
9
/
M
C
O
M
.
0
0
1
.
2
0
0
0
4
1
9
.
[
6
]
Y
.
Z
h
a
n
g
a
n
d
Y
.
M
e
n
g
,
“
A
d
e
c
e
n
t
r
a
l
i
z
e
d
mu
l
t
i
-
r
o
b
o
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sy
st
e
m
f
o
r
i
n
t
r
u
d
e
r
d
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t
e
c
t
i
o
n
i
n
s
e
c
u
r
i
t
y
d
e
f
e
n
s
e
,
”
i
n
2
0
1
0
I
E
EE/
RS
J
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
r
e
n
c
e
o
n
I
n
t
e
l
l
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g
e
n
t
Ro
b
o
t
s
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n
d
S
y
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t
e
m
s
,
O
c
t
.
2
0
1
0
,
p
p
.
5
5
6
3
–
5
5
6
8
,
d
o
i
:
1
0
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1
1
0
9
/
I
R
O
S
.
2
0
1
0
.
5
6
5
2
0
0
4
.
[
7
]
A
.
B
o
se,
“
P
y
t
h
o
n
i
m
p
l
e
me
n
t
a
t
i
o
n
o
f
a
b
u
n
c
h
o
f
mu
l
t
i
-
r
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b
o
t
p
a
t
h
-
p
l
a
n
n
i
n
g
a
l
g
o
r
i
t
h
ms,
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