Anomaly detection on ROS2 DDS cluster

ROS2 (Robot Operation System) is a set of software library's and tools for building a robot applications. ROS2 can run on top of e.g. Ubuntu Linux. For communication, ROS2 by default uses Data Distribution Service (DDS) as its middleware. DDS runs on top of the Real-Time Publish Subscribe (RTPS) protocol. RTPS can run on top of e.g., UDP, TCP, or TLS (over UDP or TCP).

In the DurableCASE project solutions for a collaborative robot vehicles in the agricultural sector are developed. Robot vehicles communicate with each other when in proximity, with bass stations for status updates, and with the general management infrastructure for periodical software and firmware updates. The normal behavior can be observed over a period of time, to enable detection of abnormal behavior (anomaly detection). 

Contact: Mathia Björkqvist (M.A.Bjorkqvist@hhs.nl)