Context-aware Coordinated Multi-agent Reasoning for Safe Robot Operations, part of " AI CRAFT: Artificial Intelligence Cybersecurity Readiness and Future Training", US DoD, DARPA. 24-26

Robots are now ubiquitously employed across various settings, ranging from autonomous vehicles and warehouse logistics to challenging rescue missions, performing myriad tasks with minimal human guidance to no human intervention at all. Fundamental to these robotic operations is scene perception - the capability to perceive and understand the surrounding environment, mainly reliant on vision sensors such as cameras and LiDAR systems. This aspect is paramount for decision-making, navigation, and, eventually, successful task execution.

However, in complex environments, such as uncontrolled road intersections or multi-robot coordination scenarios, distributed agent reasoning, such as semantic segmentation, can sometimes falter, lacking situational awareness or leading to adverse outcomes during adversarial attacks on one of the agents. We aim to investigate the influence of centralized and ad hoc coordination in multi-agent robotic perception under the dual challenges of maintaining situational awareness and dealing with adversarial attacks. 

Completed projects -  Under Construction

iDriveSense, was part of an NSERC Strategic grant

iDriveSense integrates vehicular and smartphone sensors within and amongst vehicles to offer robust road monitoring, driver profiles and route recommendations. The collected data is then filtered, processed, and sent to a road information system (RIS) cloud where it is used to build road and driver information repositories. iDriveSense transforms the vehicle into a smart node capable of providing vital information for road safety. We remark that our solutions are not intended to replace existing RIS installations and navigation systems, but rather provide such systems with robust real-time information that can significantly improve the services they offer including route-planning and navigation services. The different components of iDriveSense and the new design of route selection criterion based on driver preferences, supported by road conditions monitored and reported in real-time are explored.

Selected Publications 

Journals:

• S. Saleh, A. S. El-Wakeel, and A. Noureldin "5G-Enabled Vehicle Positioning using EKF With Dynamic Covariance Matrix Tuning,", IEEE CJECE, 2022. 

• A. Aboutaleb, A. S. El-Wakeel, H. Elghamrawy, and A. Noureldin "LiDAR/RISS/GNSS Dynamic Integration for Land Vehicle Robust Positioning in Challenging GNSS Environments" Remote Sensing, 2020.

• A. Abdelrahman*, A. S. E-Wakeel*, A. Noureldin, and H. S. Hassanein "Crowdsensing-Based Personalized Dynamic Route Planning for Smart Vehicles" IEEE Network, 2020. 

• A. S. El-Wakeel, A. Osman, N. Zorba, H. S. Hassanein, and A. Noureldin "Robust Positioning for Road Information Services in Challenging Environments", IEEE Sensors Journal,  2019. 

• A. S. El-Wakeel, J. Li, A. Noureldin, H. S. Hassanein, and N. Zorba "Towards a Practical Crowdsensing System for Road Surface Conditions Monitoring", IEEE Internet of Things Journal, 2018. 

Conferences:

• S. Saleh*, A. S. El-Wakeel*, S. Sorour, and A. Noureldin "Evaluation of 5G Cell Densification for Autonomous Vehicles Positioning in Urban Settings",  2020 International Conference on Communications, Signal Processing, and their Applications (ICCSPA), Sharjah, UAE,  2021  

•  A. S. El-Wakeel, A. Noureldin and H. S. Hassanein and N. Zorba "A Framework for Adaptive Resolution Geo-Referencing in Intelligent Vehicular Services " , 2019 IEEE 90th Vehicular Technology Conference (VTC2019-Fall) , Hawaii,  USA, 2019. "Invited"

•  A. S. El-Wakeel, A. Noureldin and H. S. Hassanein and N. Zorba "iDriveSense: Dynamic Route Planning Involving Roads Quality Information" , GLOBECOM 2018 - 2018 IEEE Global Communications Conference, Abu-Dhabi,  UAE, 2018. 

• A. S. El-Wakeel, A. Noureldin and H. S. Hassanein and N. Zorba "Utilization of Wavelet Packet Sensor De-noising for Accurate Positioning in Intelligent Road Services", 14th International Wireless Communications and Mobile Computing Conference (IWCMC), Limassol, CY., 2018. "Best Paper Award" 

• A. S. El-Wakeel, J. Li, M. T. Rahman, A. Noureldin and H. S. Hassanein, "Monitoring Road Surface Anomalies Towards Dynamic Road Mapping for Future Smart Cities", 5th IEEE Global Conference on Signal and Information Processing (GlobalSIP), Montreal, CA, 2017. 

* Authors contributed equally.