Ognjen Marjanovic

27 papers A* 1A 1Journal 15Unranked 9
YearRankTypeTitle / Venue / Authors
2025 J jnl
Confined Space Underwater Positioning Using Collaborative Robots.
CoRR
Xueliang Cheng, Kanzhong Yao, Andrew West, Ognjen Marjanovic, Barry Lennox, Keir Groves
2025 — conf
Fully Distributed Cooperative Multi-agent Underwater Obstacle Avoidance.
TAROS
Kanzhong Yao, Ognjen Marjanovic, Simon A. Watson
2025 J jnl
Lyapunov Stability-Driven Control Algorithm for Heterogeneous Multi-Robot Coordination.
IEEE Trans Autom. Sci. Eng.
Fatemeh Rekabi Bana, Mazen Bahaidarah, Ognjen Marjanovic, Farshad Arvin
2025 — conf
Reconfigurable Leader-Follower Swarm Formation in Complex Environments.
ICIT
Mazen Bahaidarah, Mohsen Zahmatkesh, Martin Stefanec, Ognjen Marjanovic, Farshad Arvin
2025 — conf
UAV Trajectory Optimisation with Reduced Conservatism via Tight B-Spline Envelopes.
TAROS
Christopher Blum, Keir Groves, Zhongguo Li, Ognjen Marjanovic
2024 — conf
A Leader-Follower Collective Motion in Robotic Swarms.
TAROS (2)
Mazen Bahaidarah, Ognjen Marjanovic, Fatemeh Rekabi Bana, Farshad Arvin
2024 J jnl
Decentralized Supervisory Control of Networked Multienergy Buildings.
IEEE Trans. Control. Syst. Technol.
Michael Taylor, Ognjen Marjanovic, Alessandra Parisio
2024 J jnl
Fully Distributed Cooperative Multi-agent Underwater Obstacle Avoidance Under Dog Walking Paradigm.
CoRR
Kanzhong Yao, Ognjen Marjanovic, Simon Watson
2024 J jnl
Swarm flocking using optimisation for a self-organised collective motion.
Swarm Evol. Comput.
Mazen Bahaidarah, Fatemeh Rekabi Bana, Ognjen Marjanovic, Farshad Arvin
2024 J jnl
Virtual Elastic Tether: a New Approach for Multi-agent Navigation in Confined Aquatic Environments.
CoRR
Kanzhong Yao, Xueliang Cheng, Keir Groves, Barry Lennox, Ognjen Marjanovic, Simon Watson
2023 J jnl
CARMA II: A ground vehicle for autonomous surveying of alpha, beta and gamma radiation.
Frontiers Robotics AI
Bahman Nouri Rahmat Abadi, Andrew West, Harriet Peel, Matthew Nancekievill, Christopher Ballard, Barry Lennox, Ognjen Marjanovic, Keir Groves
2023 J jnl
Corrigendum: CARMA II: a ground vehicle for autonomous surveying of alpha, beta and gamma radiation.
Frontiers Robotics AI
Bahman Nouri Rahmat Abadi, Andrew West, Harriet Peel, Matthew Nancekievill, Christopher Ballard, Barry Lennox, Ognjen Marjanovic, Keir Groves
2023 A* conf
Image-Based Visual Servoing Switchable Leader-follower Control of Heterogeneous Multi-agent Underwater Robot System.
ICRA
Kanzhong Yao, Nathalie Bauschmann, Thies L. Alff, Wei Cheah, Daniel-André Duecker, Keir Groves, Ognjen Marjanovic, Simon Watson
2023 J jnl
MIRRAX: A Reconfigurable Robot for Limited Access Environments.
IEEE Trans. Robotics
Wei Cheah, Keir Groves, Horatio Martin, Harriet Peel, Simon Watson, Ognjen Marjanovic, Barry Lennox
2022 J jnl
MIRRAX: A Reconfigurable Robot for Limited Access Environments.
CoRR
Wei Cheah, Keir Groves, Horatio Martin, Harriet Peel, Simon Watson, Ognjen Marjanovic, Barry Lennox
2022 — conf
Optimization of a Self-organized Collective Motion in a Robotic Swarm.
ANTS Conference
Mazen Bahaidarah, Fatemeh Rekabi Bana, Ali Emre Turgut, Ognjen Marjanovic, Farshad Arvin
2021 — conf
Charge/Discharge Event Model for Electric Vehicles with Predictive Control Application.
MED
Anita Aliu, Ognjen Marjanovic, Alessandra Parisio
2021 — conf
Decentralised Predictive Control of Multi-Energy Resources in Buildings.
MED
Michael Taylor, Ognjen Marjanovic, Alessandra Parisio
2020 A conf
Model Identification of a Small Omnidirectional Aquatic Surface Vehicle: a Practical Implementation.
IROS
Keir Groves, Marin Dimitrov, Harriet Peel, Ognjen Marjanovic, Barry Lennox
2020 J jnl
The Design of Prometheus: A Reconfigurable UAV for Subterranean Mine Inspection.
Robotics
Liam Brown, Robert Clarke, Aliakbar Akbari, Ujjar Bhandari, Sara Bernardini, Puneet S. Chhabra, Ognjen Marjanovic, Thomas Richardson, Simon Watson
2018 — conf
Demand Smoothing in Multi-Energy Systems Using Model Predictive Control.
ISGT Europe
Sebastian Long, Ognjen Marjanovic, Alessandra Parisio
2016 — conf
Damping of inter-area power oscillations in hybrid AC-DC power systems based on supervisory control scheme utilizing FACTS and HVDC.
PSCC
Melios Hadjikypris, Ognjen Marjanovic, Vladimir V. Terzija
2006 J jnl
Real-time monitoring of an industrial batch process.
Comput. Chem. Eng.
Ognjen Marjanovic, Barry Lennox, David J. Sandoz, Keith Smith, Milton Crofts
2004 J jnl
Infinite horizon model predictive control with no terminal constraint.
Comput. Chem. Eng.
Ognjen Marjanovic, Barry Lennox
2002 J jnl
Minimising conservatism in infinite-horizon LQR control.
Syst. Control. Lett.
Ognjen Marjanovic, Barry Lennox, Peter R. Goulding, David J. Sandoz
2002 — —
On constrained infinite horizon model predictive control.
Ognjen Marjanovic
2000 J jnl
Fault detection in continuous processes using multivariate statistical methods.
Int. J. Syst. Sci.
Peter R. Goulding, Barry Lennox, David J. Sandoz, K. J. Smith, Ognjen Marjanovic
notebooks/redb-clickhouse-TEST.ipynb
← Index notebooks/redb-clickhouse-TEST.ipynb plaintext
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{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Definitions"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "import clickhouse_connect"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "\n",
    "ch_TEST_client = clickhouse_connect.get_client(host='e.rationaledge.io', port=443, username='default', password='werioubTGwvf0-dsbv_', database='redb', verify=False)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [],
   "source": [
    "ch_TEST_BETA_client = clickhouse_connect.get_client(host='k.rationaledge.io', port=443, username='default', password='werioubTGwvf0-dsbv_', database='default', verify=False)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<bound method HttpClient.close_connections of <clickhouse_connect.driver.httpclient.HttpClient object at 0x105fd64d0>>"
      ]
     },
     "execution_count": 13,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "ch_TEST_BETA_client.close_connections"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "<clickhouse_connect.driver.summary.QuerySummary at 0x11f900810>"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "ch_TEST_BETA_client.command(\"\"\"\n",
    "RENAME DATABASE redb TO orig_redb;\n",
    "\"\"\")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## DB Creation (schema 2025-08-02)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "ch_TEST_client.command(\"\"\"\n",
    "CREATE DATABASE IF NOT EXISTS redb;\n",
    "\"\"\")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Define General Tables"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "### CREATE FULL REDB DATABASE\n",
    "def create_redb_with_all_tables(client):\n",
    "    client.command(\"\"\"\n",
    "        CREATE DATABASE IF NOT EXISTS redb\n",
    "    \"\"\")\n",
    "    create_all_general_tables(client)\n",
    "    create_all_pe_tables(client)\n",
    "\n",
    "#### CREATE FULL TABLES\n",
    "def create_all_general_tables(client):\n",
    "    create_basic_properties_dbtable(client)\n",
    "    create_hashes_dbtable(client)\n",
    "    create_capa_dbtable(client)\n",
    "    create_die_dbtable(client)\n",
    "    create_extra_findings_dbtable(client)\n",
    "\n",
    "\n",
    "##################################\n",
    "#### CREATE INDIVIDUAL TABLES ####\n",
    "##################################\n",
    "\n",
    "#### GENERAL TABLES ####\n",
    "# All tables have SETTINGS index_granularity = 8192\n",
    "def create_basic_properties_dbtable(client):\n",
    "    # Create samples_metadata table\n",
    "    client.command(\"\"\"\n",
    "        CREATE TABLE IF NOT EXISTS redb_basic_properties (\n",
    "            sha256 FixedString(64), -- primary key\n",
    "            md5 FixedString(32),\n",
    "            sha1 FixedString(40),\n",
    "            filename Nullable(String),\n",
    "            sample_name String,\n",
    "            filesize UInt64,\n",
    "            file_entropy Float64,\n",
    "            filetype LowCardinality(String),\n",
    "            filetype_mime LowCardinality(String),\n",
    "            filetype_magika LowCardinality(String),\n",
    "            analysis_date DateTime64(3, 'UTC'),\n",
    "        ) ENGINE = ReplacingMergeTree(analysis_date)\n",
    "        PRIMARY KEY (sha256)\n",
    "        ORDER BY (sha256)\n",
    "    \"\"\")\n",
    "\n",
    "def create_hashes_dbtable(client):\n",
    "    # Create hashes table\n",
    "    client.command(\"\"\"\n",
    "        CREATE TABLE IF NOT EXISTS redb_hashes (\n",
    "            sha256 FixedString(64), -- primary key\n",
    "            md5 FixedString(32),\n",
    "            sha1 FixedString(40),\n",
    "            ssdeep_hash Nullable(String),\n",
    "            tlsh_hash Nullable(String),\n",
    "            authentihash Nullable(String),\n",
    "            imphash Nullable(String),\n",
    "            impfuzzy Nullable(String),\n",
    "            typerefhash Nullable(String),\n",
    "            richhash Nullable(String),\n",
    "            richpe_hash Nullable(String),\n",
    "            richpv_hash Nullable(String),\n",
    "            richpv_hash_sorted Nullable(String),\n",
    "            dhash Nullable(String),\n",
    "            analysis_date DateTime64(3, 'UTC')\n",
    "        ) ENGINE = ReplacingMergeTree(analysis_date)\n",
    "        PRIMARY KEY (sha256)\n",
    "        ORDER BY (sha256)\n",
    "    \"\"\")\n",
    "\n",
    "def create_capa_dbtable(client):\n",
    "    # Create sample_capabilities table\n",
    "    client.command(\"\"\"\n",
    "        SET enable_json_type = 1;\n",
    "    \"\"\")\n",
    "    client.command(\"\"\"\n",
    "        -- Base table for CAPA analysis results\n",
    "        CREATE TABLE IF NOT EXISTS redb_capa (\n",
    "            sha256 FixedString(64),\n",
    "            md5 FixedString(32),\n",
    "            sha1 FixedString(40),\n",
    "            analysis_date DateTime64(3, 'UTC'),\n",
    "            -- Store full JSON dumps as strings for flexibility\n",
    "            capa_dump JSON CODEC(ZSTD(3)),\n",
    "            attack_dump JSON CODEC(ZSTD(3)),\n",
    "            mbc_dump JSON CODEC(ZSTD(3))\n",
    "        ) ENGINE = ReplacingMergeTree(analysis_date)\n",
    "        ORDER BY sha256;\n",
    "    \"\"\")\n",
    "\n",
    "    client.command(\"\"\"\n",
    "        -- Normalized table for capabilities and namespaces\n",
    "        CREATE TABLE IF NOT EXISTS redb_capa_capabilities (\n",
    "            sha256 FixedString(64),\n",
    "            md5 FixedString(32),\n",
    "            sha1 FixedString(40),\n",
    "            analysis_date DateTime64(3, 'UTC'),\n",
    "            namespace LowCardinality(String),\n",
    "            capability LowCardinality(String)\n",
    "        ) ENGINE = ReplacingMergeTree(analysis_date)\n",
    "        ORDER BY (sha256, namespace, capability);\n",
    "    \"\"\")\n",
    "\n",
    "    client.command(\"\"\"\n",
    "        -- Materialized view for capability statistics\n",
    "        CREATE MATERIALIZED VIEW IF NOT EXISTS redb_capa_capabilities_stats (\n",
    "            namespace LowCardinality(String),\n",
    "            capability LowCardinality(String),\n",
    "            samples_bitmap AggregateFunction(groupBitmap, UInt64),\n",
    "            occurrence_count UInt64\n",
    "        ) ENGINE = AggregatingMergeTree()\n",
    "        ORDER BY (namespace, capability)\n",
    "        AS SELECT\n",
    "            namespace,\n",
    "            capability,\n",
    "            groupBitmapState(cityHash64(sha256)) as samples_bitmap,\n",
    "            count() as occurrence_count\n",
    "        FROM redb_capa_capabilities\n",
    "        GROUP BY namespace, capability;\n",
    "    \"\"\")\n",
    "\n",
    "    client.command(\"\"\"\n",
    "        -- Normalized table for MITRE ATT&CK mappings\n",
    "        CREATE TABLE IF NOT EXISTS redb_capa_attack (\n",
    "            sha256 FixedString(64),\n",
    "            md5 FixedString(32),\n",
    "            sha1 FixedString(40),\n",
    "            analysis_date DateTime64(3, 'UTC'),\n",
    "            tactic LowCardinality(String),\n",
    "            technique LowCardinality(String),\n",
    "            technique_id LowCardinality(String)\n",
    "        ) ENGINE = ReplacingMergeTree(analysis_date)\n",
    "        ORDER BY (sha256, tactic, technique_id);\n",
    "    \"\"\")\n",
    "\n",
    "    client.command(\"\"\"\n",
    "        -- Materialized view for ATT&CK statistics\n",
    "        CREATE MATERIALIZED VIEW IF NOT EXISTS redb_capa_attack_stats (\n",
    "            tactic LowCardinality(String),\n",
    "            technique LowCardinality(String),\n",
    "            technique_id LowCardinality(String),\n",
    "            samples_bitmap AggregateFunction(groupBitmap, UInt64),\n",
    "            occurrence_count UInt64\n",
    "        ) ENGINE = AggregatingMergeTree()\n",
    "        ORDER BY (tactic, technique_id)\n",
    "        AS SELECT\n",
    "            tactic,\n",
    "            technique,\n",
    "            technique_id,\n",
    "            groupBitmapState(cityHash64(sha256)) as samples_bitmap,\n",
    "            count() as occurrence_count\n",
    "        FROM redb_capa_attack\n",
    "        GROUP BY tactic, technique, technique_id;\n",
    "    \"\"\")\n",
    "\n",
    "    client.command(\"\"\"\n",
    "        -- Normalized table for MBC mappings\n",
    "        CREATE TABLE IF NOT EXISTS redb_capa_mbc (\n",
    "            sha256 FixedString(64),\n",
    "            md5 FixedString(32),\n",
    "            sha1 FixedString(40),\n",
    "            analysis_date DateTime64(3, 'UTC'),\n",
    "            objective LowCardinality(String),\n",
    "            behavior LowCardinality(String),\n",
    "            behavior_id LowCardinality(String)\n",
    "        ) ENGINE = ReplacingMergeTree(analysis_date)\n",
    "        ORDER BY (sha256, objective, behavior_id);\n",
    "    \"\"\")\n",
    "\n",
    "    client.command(\"\"\"\n",
    "        -- Materialized view for MBC statistics\n",
    "        CREATE MATERIALIZED VIEW IF NOT EXISTS redb_capa_mbc_stats (\n",
    "            objective LowCardinality(String),\n",
    "            behavior LowCardinality(String),\n",
    "            behavior_id LowCardinality(String),\n",
    "            samples_bitmap AggregateFunction(groupBitmap, UInt64),\n",
    "            occurrence_count UInt64\n",
    "        ) ENGINE = AggregatingMergeTree()\n",
    "        ORDER BY (objective, behavior_id)\n",
    "        AS SELECT\n",
    "            objective,\n",
    "            behavior,\n",
    "            behavior_id,\n",
    "            groupBitmapState(cityHash64(sha256)) as samples_bitmap,\n",
    "            count() as occurrence_count\n",
    "        FROM redb_capa_mbc\n",
    "        GROUP BY objective, behavior, behavior_id;\n",
    "    \"\"\")\n",
    "\n",
    "def create_die_dbtable(client):\n",
    "    # Create sample_die table\n",
    "    client.command(\"\"\"\n",
    "        SET enable_json_type = 1;\n",
    "    \"\"\")\n",
    "    client.command(\"\"\"\n",
    "        CREATE TABLE IF NOT EXISTS redb_die (\n",
    "            sha256 FixedString(64),\n",
    "            md5 FixedString(32),\n",
    "            sha1 FixedString(40),\n",
    "            die_info JSON CODEC(ZSTD(3)),\n",
    "            analysis_date DateTime64(3, 'UTC')\n",
    "        ) ENGINE = ReplacingMergeTree(analysis_date)\n",
    "        PRIMARY KEY (sha256)\n",
    "        ORDER BY (sha256)\n",
    "    \"\"\")\n",
    "\n",
    "    client.command(\"\"\"\n",
    "        CREATE MATERIALIZED VIEW redb_die_mv\n",
    "        (\n",
    "            sha256 FixedString(64),\n",
    "            md5 FixedString(32),\n",
    "            sha1 FixedString(40),\n",
    "            analysis_date DateTime64(3, 'UTC'),\n",
    "            compiler LowCardinality(Nullable(String)),\n",
    "            compiler_full Nullable(String),\n",
    "            format LowCardinality(Nullable(String)),\n",
    "            format_full Nullable(String),\n",
    "            installer LowCardinality(Nullable(String)),\n",
    "            installer_full Nullable(String),\n",
    "            joiner LowCardinality(Nullable(String)),\n",
    "            joiner_full Nullable(String),\n",
    "            language LowCardinality(Nullable(String)),\n",
    "            language_full Nullable(String),\n",
    "            library LowCardinality(Nullable(String)),\n",
    "            library_full Nullable(String),\n",
    "            linker LowCardinality(Nullable(String)),\n",
    "            linker_full Nullable(String),\n",
    "            operation_system LowCardinality(Nullable(String)),\n",
    "            operation_system_full Nullable(String),\n",
    "            packer LowCardinality(Nullable(String)),\n",
    "            packer_full Nullable(String),\n",
    "            protector LowCardinality(Nullable(String)),\n",
    "            protector_full Nullable(String),\n",
    "            sfx LowCardinality(Nullable(String)),\n",
    "            sfx_full Nullable(String),\n",
    "            sign_tool LowCardinality(Nullable(String)),\n",
    "            sign_tool_full Nullable(String),\n",
    "            stub LowCardinality(Nullable(String)),\n",
    "            stub_full Nullable(String),\n",
    "            tool LowCardinality(Nullable(String)),\n",
    "            tool_full Nullable(String),   \n",
    "            -- overlay JSON CODEC(ZSTD(3)),\n",
    "            -- resource JSON CODEC(ZSTD(3)),\n",
    "            has_overlay UInt8,\n",
    "            has_resources UInt8,\n",
    "            is_packed UInt8\n",
    "        )\n",
    "        ENGINE = ReplacingMergeTree(analysis_date)\n",
    "        ORDER BY (sha256)\n",
    "        POPULATE\n",
    "        AS SELECT\n",
    "            sha256,\n",
    "            md5,\n",
    "            sha1,\n",
    "            analysis_date,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'compiler'), '') AS compiler,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'compiler(full)'), '') AS compiler_full,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'format'), '') AS format,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'format(full)'), '') AS format_full,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'installer'), '') AS installer,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'installer(full)'), '') AS installer_full,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'joiner'), '') AS joiner,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'joiner(full)'), '') AS joiner_full,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'language'), '') AS language,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'language(full)'), '') AS language_full,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'library'), '') AS library,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'library(full)'), '') AS library_full,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'linker'), '') AS linker,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'linker(full)'), '') AS linker_full,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'operation_system'), '') AS operation_system,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'operation_system(full)'), '') AS operation_system_full,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'packer'), '') AS packer,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'packer(full)'), '') AS packer_full,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'protector'), '') AS protector,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'protector(full)'), '') AS protector_full,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'sfx'), '') AS sfx,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'sfx(full)'), '') AS sfx_full,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'sign_tool'), '') AS sign_tool,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'sign_tool(full)'), '') AS sign_tool_full,\n",
    "            nullIf(JSONExtractString(toString(die_info), 'stub'), '') AS stub,\n",
    "            nullIf(JSONExtractString(toString(die_info),