9,383 research outputs found
A Parallel Distributed Strategy for Arraying a Scattered Robot Swarm
We consider the problem of organizing a scattered group of robots in
two-dimensional space, with geometric maximum distance between robots. The
communication graph of the swarm is connected, but there is no central
authority for organizing it. We want to arrange them into a sorted and
equally-spaced array between the robots with lowest and highest label, while
maintaining a connected communication network.
In this paper, we describe a distributed method to accomplish these goals,
without using central control, while also keeping time, travel distance and
communication cost at a minimum. We proceed in a number of stages (leader
election, initial path construction, subtree contraction, geometric
straightening, and distributed sorting), none of which requires a central
authority, but still accomplishes best possible parallelization. The overall
arraying is performed in time, individual messages, and
travel distance. Implementation of the sorting and navigation use communication
messages of fixed size, and are a practical solution for large populations of
low-cost robots
Distributed Symmetry Breaking in Hypergraphs
Fundamental local symmetry breaking problems such as Maximal Independent Set
(MIS) and coloring have been recognized as important by the community, and
studied extensively in (standard) graphs. In particular, fast (i.e.,
logarithmic run time) randomized algorithms are well-established for MIS and
-coloring in both the LOCAL and CONGEST distributed computing
models. On the other hand, comparatively much less is known on the complexity
of distributed symmetry breaking in {\em hypergraphs}. In particular, a key
question is whether a fast (randomized) algorithm for MIS exists for
hypergraphs.
In this paper, we study the distributed complexity of symmetry breaking in
hypergraphs by presenting distributed randomized algorithms for a variety of
fundamental problems under a natural distributed computing model for
hypergraphs. We first show that MIS in hypergraphs (of arbitrary dimension) can
be solved in rounds ( is the number of nodes of the
hypergraph) in the LOCAL model. We then present a key result of this paper ---
an -round hypergraph MIS algorithm in
the CONGEST model where is the maximum node degree of the hypergraph
and is any arbitrarily small constant.
To demonstrate the usefulness of hypergraph MIS, we present applications of
our hypergraph algorithm to solving problems in (standard) graphs. In
particular, the hypergraph MIS yields fast distributed algorithms for the {\em
balanced minimal dominating set} problem (left open in Harris et al. [ICALP
2013]) and the {\em minimal connected dominating set problem}. We also present
distributed algorithms for coloring, maximal matching, and maximal clique in
hypergraphs.Comment: Changes from the previous version: More references adde
Self-organising an indoor location system using a paintable amorphous computer
This thesis investigates new methods for self-organising a precisely defined pattern of intertwined number sequences which may be used in the rapid deployment of a passive indoor positioning system's infrastructure.A future hypothetical scenario is used where computing particles are suspended in paint and covered over a ceiling. A spatial pattern is then formed over the covered ceiling. Any small portion of the spatial pattern may be decoded, by a simple camera equipped device, to provide a unique location to support location-aware pervasive computing applications.Such a pattern is established from the interactions of many thousands of locally connected computing particles that are disseminated randomly and densely over a surface, such as a ceiling. Each particle has initially no knowledge of its location
or network topology and shares no synchronous clock or memory with any other particle.The challenge addressed within this thesis is how such a network of computing particles that begin in such an initial state of disarray and ignorance can, without outside intervention or expensive equipment, collaborate to create a relative coordinate system. It shows how the coordinate system can be created to be coherent, even in the face of obstacles, and closely represent the actual shape of the networked surface itself. The precision errors incurred during the propagation of the coordinate system are identified and the distributed algorithms used to avoid this error are explained and demonstrated through simulation.A new perimeter detection algorithm is proposed that discovers network edges and other obstacles without the use of any existing location knowledge. A new distributed localisation algorithm is demonstrated to propagate a relative coordinate system throughout the network and remain free of the error introduced by the network perimeter that is normally seen in non-convex networks. This localisation algorithm operates without prior configuration or calibration, allowing the coordinate system to be deployed without expert manual intervention or on networks that are otherwise inaccessible.The painted ceiling's spatial pattern, when based on the proposed localisation algorithm, is discussed in the context of an indoor positioning system
Biologically inspired, self organizing communication networks.
PhDThe problem of energy-efficient, reliable, accurate and self-organized target tracking in
Wireless Sensor Networks (WSNs) is considered for sensor nodes with limited physical
resources and abrupt manoeuvring mobile targets. A biologically inspired, adaptive
multi-sensor scheme is proposed for collaborative Single Target Tracking (STT) and
Multi-Target Tracking (MTT). Behavioural data obtained while tracking the targets
including the targetsâ previous locations is recorded as metadata to compute the target
sampling interval, target importance and local monitoring interval so that tracking
continuity and energy-efficiency are improved. The subsequent sensor groups that track
the targets are selected proactively according to the information associated with the
predicted target location probability such that the overall tracking performance is
optimized or nearly-optimized. One sensor node from each of the selected groups is
elected as a main node for management operations so that energy efficiency and load
balancing are improved. A decision algorithm is proposed to allow the âconflictâ nodes
that are located in the sensing areas of more than one target at the same time to decide
their preferred target according to the target importance and the distance to the target. A
tracking recovery mechanism is developed to provide the tracking reliability in the
event of target loss.
The problem of task mapping and scheduling in WSNs is also considered. A
Biological Independent Task Allocation (BITA) algorithm and a Biological Task
Mapping and Scheduling (BTMS) algorithm are developed to execute an application
using a group of sensor nodes. BITA, BTMS and the functional specialization of the
sensor groups in target tracking are all inspired from biological behaviours of
differentiation in zygote formation.
Simulation results show that compared with other well-known schemes, the
proposed tracking, task mapping and scheduling schemes can provide a significant
improvement in energy-efficiency and computational time, whilst maintaining
acceptable accuracy and seamless tracking, even with abrupt manoeuvring targets.Queen Mary university of London full Scholarshi
PMLC- Predictions of Mobility and Transmission in a Lane-Based Cluster VANET Validated on Machine Learning
VANET refers to a massive network system, to communicate with each vehicle or infrastructure a precision protocol, an advanced view and routing system is required. This means of communication should be appropriate for all kind of vehicles. In this proposed PMLC protocol, which was built on cluster routing in a lane-based road environment. The network requires optimal solutions to form the cluster and choose its leader. All road environment characteristics are chosen, and multilayer estimations are generated to obtain specific deviations and variations, which are calculated based on data transfer and vehicle movement, and exact values are found using the machine learning system. The neural network processes the inputs, selects the required leader, and sends the data to the destination. At the end of this explanation, the execution of this protocol is depicted graphically
Energy-Efficient Self-Organization Protocols for Sensor Networks
A Wireless Sensor Network (WSN, for short) consists of a large number of very small sensor devices deployed in an area of interest for gathering and delivery information. The fundamental goal of a WSN is to produce, over an extended period of time, global information from local data obtained by individual sensors. The WSN technology will have a significant impact on a wide array of applications on the efficiency of many civilian and military applications including combat field surveillance, intrusion detection, disaster management among many others. The basic management problem in the WSN is to balance the utility of the activity in the network against the cost incurred by the network resources to perform this activity. Since the sensors are battery powered and it is impossible to change or recharge batteries after the sensors are deployed, promoting system longevity becomes one of the most important design goals instead of QoS provisioning and bandwidth efficiency. On the other hand the self-organization ability is essential for the WSN due to the fact that the sensors are randomly deployed and they work unattended. We developed a self-organization protocol, which creates a multi-hop communication infrastructure capable of utilizing the limited resources of sensors in an adaptive and efficient way. The resulting general-purpose infrastructure is robust, easy to maintain and adapts well to various application needs. Important by-products of our infrastructure include: (1) Energy efficiency: in order to save energy and to extend the longevity of the WSN sensors, which are in sleep mode most of the time. (2) Adaptivity: the infrastructure is adaptive to network size, network topology, network density and application requirement. (3) Robustness: the degree to which the infrastructure is robust and resilient. Analytical results and simulation confirmed that our self-organization protocol has a number of desirable properties and compared favorably with the leading protocols in the literature
Mesh-Mon: a Monitoring and Management System for Wireless Mesh Networks
A mesh network is a network of wireless routers that employ multi-hop routing and can be used to provide network access for mobile clients. Mobile mesh networks can be deployed rapidly to provide an alternate communication infrastructure for emergency response operations in areas with limited or damaged infrastructure. In this dissertation, we present Dart-Mesh: a Linux-based layer-3 dual-radio two-tiered mesh network that provides complete 802.11b coverage in the Sudikoff Lab for Computer Science at Dartmouth College. We faced several challenges in building, testing, monitoring and managing this network. These challenges motivated us to design and implement Mesh-Mon, a network monitoring system to aid system administrators in the management of a mobile mesh network. Mesh-Mon is a scalable, distributed and decentralized management system in which mesh nodes cooperate in a proactive manner to help detect, diagnose and resolve network problems automatically. Mesh-Mon is independent of the routing protocol used by the mesh routing layer and can function even if the routing protocol fails. We demonstrate this feature by running Mesh-Mon on two versions of Dart-Mesh, one running on AODV (a reactive mesh routing protocol) and the second running on OLSR (a proactive mesh routing protocol) in separate experiments. Mobility can cause links to break, leading to disconnected partitions. We identify critical nodes in the network, whose failure may cause a partition. We introduce two new metrics based on social-network analysis: the Localized Bridging Centrality (LBC) metric and the Localized Load-aware Bridging Centrality (LLBC) metric, that can identify critical nodes efficiently and in a fully distributed manner. We run a monitoring component on client nodes, called Mesh-Mon-Ami, which also assists Mesh-Mon nodes in the dissemination of management information between physically disconnected partitions, by acting as carriers for management data. We conclude, from our experimental evaluation on our 16-node Dart-Mesh testbed, that our system solves several management challenges in a scalable manner, and is a useful and effective tool for monitoring and managing real-world mesh networks
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