Trajectory planning for unmanned aerial vehicles (UAVs) in dynamic and partially observable environments becomes more complex when extended from two-dimensional to three-dimensional navigation. Although Deep Reinforcement Learning (DRL) methods have shown strong performance in 2D scenarios, their application to 3D spaces requires redesigned observation models, action representations, and safety mechanisms. This paper extends a 2D DRL-based trajectory planning framework to 3D environments using Proximal Policy Optimization (PPO), Deep Q-Network (DQN) and Deep Deterministic Policy Gradient (DDPG). UAV agents are trained to reach randomly placed 3D targets while avoiding static and dynamic obstacles using only local sensory information. The observation space combines a local 3D occupancy representation with a relative 3D goal vector, preserving partial observability and avoiding reliance on a global map. This article proposes that the simulation results demonstrate robust, collision-aware navigation and improved safety and trajectory efficiency in each one of the DRL algorithms implemented, each having positive and negative specifics.
Eduardo Machado Wullner, Arthur von Groll dos Santos, M. Vizzotto et al.· International Conference on...· 0 citations
Heterogeneous multi-UAV fleets act as highly dynamic mobile Internet of Things (IoT) nodes, but they often integrate platforms with incompatible telemetry and control semantics, hindering safe and scalable coordination. This paper presents an Asset Administration Shell (AAS)-driven digital twin architecture for the cloud continuum that decouples protocol translation from mission orchestration, pushing compute power closer to the edge. The first contribution of this work is a four-layer communication model mapped across the IoT and edge continuum, spanning physical-digital synchronization at the network edge, inter-digital-twin interaction, digitaltwin/GCS supervision in the fog/cloud layer, and a safety-critical physical/GCS bypass. The second contribution is a UAV AAS submodel that standardizes runtime state, energy, payload, and wireless QoS descriptors. The third contribution is an analytical validation framework based on bounded digital-twin staleness $\left(\Delta S_{\max }=30 ~\text{ms}\right)$ to evaluate semantic task reallocation and QoS-aware telemetry adaptation. At a representative cruise speed of 15 m/s, the worst-case position uncertainty induced by semantic latency is 0.45 m, which is acceptable for highlevel mission handoff. For degraded links, stability conditions are derived for queue-bounded latest-state forwarding and hysteresis-based telemetry control. The analysis indicates that AAS enables protocol-agnostic interoperability while preserving orchestration timeliness.
M. Bampi, P. H. M. Pereira, E. P. de Freitas· International Conference on...· 0 citations
The growth of the Internet of Things (IoT) has introduced significant security challenges, mainly due to the resource constraints of devices and the limitations of centralized architectures. This paper proposes a blockchain-based Zero-Trust framework for secure and scalable IoT systems. The approach is architecture-agnostic and combines decentralized identity management, hybrid data storage, and edge-assisted computation. To optimize resource usage, raw data are stored off-chain while cryptographic hashes are anchored on the blockchain, ensuring integrity and immutability. A Merkle tree structure is employed to aggregate data efficiently, reducing communication overhead and blockchain transaction costs. Experimental results demonstrate that lightweight cryptographic mechanisms, combined with Merkle-based aggregation, provide strong security guarantees with low energy consumption. The proposed framework achieves improved scalability, robustness, and efficiency, making it suitable for resource-constrained IoT environments.
Florian Bonelli, Alexandre dos Santos Roque, E. P. de Freitas· International Conference on...· 0 citations
Critical safety functions in modern vehicles rely heavily on intra-vehicle networks (IVNs), primarily via the Controller Area Network (CAN) protocol. The inherent vulnerabilities of CAN require robust intrusion detection systems (IDS) to mitigate adversarial threats. However, state-of-the-art IDS, especially AI-based approaches, often lack a comprehensive, well-defined performance analysis method. This work proposes and evaluates a structured pipeline for in-vehicle IDS, analyzing an autoencoder semi-supervised IDS as a practical case study. The method is validated on publicly available datasets, covering multiple attack types, with additional analysis of generalization capabilities. Performance is rigorously assessed using precision, recall, F1-score, and the Matthews Correlation Coefficient (MCC), chosen for its robustness in imbalanced scenarios. Results demonstrated highly efficient identification of DoS attacks (MCC 1.00), though Fuzzy DoS detection showed lower performance (MCC 0.214 in CAN-MIRGU and 0.074 in CAN-MODES). These findings support the viability of the proposed pipeline for IDS analysis focusing on enhancing CAN network security, consistent with recent research trends.
Lucas Melo da Silva Alves, Alexandre dos Santos Roque, E. P. de Freitas· International Conference on...· 0 citations