Safe, Remote-Access Swarm Robotics Research on the Robotarium

This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and operation of the Robotarium as well as connects these to the particular considerations one must take when making complex hardware remotely accessible. In particular, safety must be built in already at the design phase without overly constraining which coordinated control programs the users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.Comment: 13 pages, 7 figures, 3 code samples, 72 reference

LTE Spectrum Sharing Research Testbed: Integrated Hardware, Software, Network and Data

This paper presents Virginia Tech's wireless testbed supporting research on long-term evolution (LTE) signaling and radio frequency (RF) spectrum coexistence. LTE is continuously refined and new features released. As the communications contexts for LTE expand, new research problems arise and include operation in harsh RF signaling environments and coexistence with other radios. Our testbed provides an integrated research tool for investigating these and other research problems; it allows analyzing the severity of the problem, designing and rapidly prototyping solutions, and assessing them with standard-compliant equipment and test procedures. The modular testbed integrates general-purpose software-defined radio hardware, LTE-specific test equipment, RF components, free open-source and commercial LTE software, a configurable RF network and recorded radar waveform samples. It supports RF channel emulated and over-the-air radiated modes. The testbed can be remotely accessed and configured. An RF switching network allows for designing many different experiments that can involve a variety of real and virtual radios with support for multiple-input multiple-output (MIMO) antenna operation. We present the testbed, the research it has enabled and some valuable lessons that we learned and that may help designing, developing, and operating future wireless testbeds.Comment: In Proceeding of the 10th ACM International Workshop on Wireless Network Testbeds, Experimental Evaluation & Characterization (WiNTECH), Snowbird, Utah, October 201

A study of existing Ontologies in the IoT-domain

Several domains have adopted the increasing use of IoT-based devices to collect sensor data for generating abstractions and perceptions of the real world. This sensor data is multi-modal and heterogeneous in nature. This heterogeneity induces interoperability issues while developing cross-domain applications, thereby restricting the possibility of reusing sensor data to develop new applications. As a solution to this, semantic approaches have been proposed in the literature to tackle problems related to interoperability of sensor data. Several ontologies have been proposed to handle different aspects of IoT-based sensor data collection, ranging from discovering the IoT sensors for data collection to applying reasoning on the collected sensor data for drawing inferences. In this paper, we survey these existing semantic ontologies to provide an overview of the recent developments in this field. We highlight the fundamental ontological concepts (e.g., sensor-capabilities and context-awareness) required for an IoT-based application, and survey the existing ontologies which include these concepts. Based on our study, we also identify the shortcomings of currently available ontologies, which serves as a stepping stone to state the need for a common unified ontology for the IoT domain.Comment: Submitted to Elsevier JWS SI on Web semantics for the Internet/Web of Thing