Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future

Deployment, Coverage And Network Optimization In Wireless Video Sensor Networks For 3D Indoor Monitoring

As a result of extensive research over the past decade or so, wireless sensor networks (wsns) have evolved into a well established technology for industry, environmental and medical applications. However, traditional wsns employ such sensors as thermal or photo light resistors that are often modeled with simple omni-directional sensing ranges, which focus only on scalar data within the sensing environment. In contrast, the sensing range of a wireless video sensor is directional and capable of providing more detailed video information about the sensing field. Additionally, with the introduction of modern features in non-fixed focus cameras such as the pan, tilt and zoom (ptz), the sensing range of a video sensor can be further regarded as a fan-shape in 2d and pyramid-shape in 3d. Such uniqueness attributed to wireless video sensors and the challenges associated with deployment restrictions of indoor monitoring make the traditional sensor coverage, deployment and networked solutions in 2d sensing model environments for wsns ineffective and inapplicable in solving the wireless video sensor network (wvsn) issues for 3d indoor space, thus calling for novel solutions. In this dissertation, we propose optimization techniques and develop solutions that will address the coverage, deployment and network issues associated within wireless video sensor networks for a 3d indoor environment. We first model the general problem in a continuous 3d space to minimize the total number of required video sensors to monitor a given 3d indoor region. We then convert it into a discrete version problem by incorporating 3d grids, which can achieve arbitrary approximation precision by adjusting the grid granularity. Due in part to the uniqueness of the visual sensor directional sensing range, we propose to exploit the directional feature to determine the optimal angular-coverage of each deployed visual sensor. Thus, we propose to deploy the visual sensors from divergent directional angles and further extend k-coverage to ``k-angular-coverage\u27\u27, while ensuring connectivity within the network. We then propose a series of mechanisms to handle obstacles in the 3d environment. We develop efficient greedy heuristic solutions that integrate all these aforementioned considerations one by one and can yield high quality results. Based on this, we also propose enhanced depth first search (dfs) algorithms that can not only further improve the solution quality, but also return optimal results if given enough time. Our extensive simulations demonstrate the superiority of both our greedy heuristic and enhanced dfs solutions. Finally, this dissertation discusses some future research directions such as in-network traffic routing and scheduling issues

Dynamic mission planning for communication control in multiple unmanned aircraft teams

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2012.Cataloged from PDF version of thesis.Includes bibliographical references (p. 147-160).As autonomous technologies continue to progress, teams of multiple unmanned aerial vehicles will play an increasingly important role in civilian and military applications. A multi-UAV system relies on communications to operate. Failure to communicate remotely sensed mission data to the base may render the system ineffective, and the inability to exchange command and control messages can lead to system failures. This thesis presents a unique method to control communications through distributed mission planning to engage under-utilized UAVs to serve as communication relays and to ensure that the network supports mission tasks. The distributed algorithm uses task assignment information, including task location and proposed execution time, to predict the network topology and plan support using relays. By explicitly coupling task assignment and relay creation processes the team is able to optimize the use of agents to address the needs of dynamic complex missions. The framework is designed to consider realistic network communication dynamics including path loss, stochastic fading, and information routing. The planning strategy is shown to ensure agents support both data-rate and interconnectivity bit-error- rate requirements during task execution. In addition, a method is provided for UAVs to estimate the network performance during times of uncertainty, adjust their plans to acceptable levels of risk, and adapt the planning behavior to changes in the communication environment. The system performance is verified through multiple experiments conducted in simulation. Finally, the work developed is implemented in outdoor flight testing with a team of up to four UAVs to demonstrate real-time capability and robustness to imperfections in the environment. The results validate the proposed framework, but highlight some of the challenges these systems face when operating in outdoor uncontrolled environments.by Andrew N. Kopeikin.S.M

The Coverage Problem in Video-Based Wireless Sensor Networks: A Survey

Wireless sensor networks typically consist of a great number of tiny low-cost electronic devices with limited sensing and computing capabilities which cooperatively communicate to collect some kind of information from an area of interest. When wireless nodes of such networks are equipped with a low-power camera, visual data can be retrieved, facilitating a new set of novel applications. The nature of video-based wireless sensor networks demands new algorithms and solutions, since traditional wireless sensor networks approaches are not feasible or even efficient for that specialized communication scenario. The coverage problem is a crucial issue of wireless sensor networks, requiring specific solutions when video-based sensors are employed. In this paper, it is surveyed the state of the art of this particular issue, regarding strategies, algorithms and general computational solutions. Open research areas are also discussed, envisaging promising investigation considering coverage in video-based wireless sensor networks

Department of Computer Science Activity 1998-2004

This report summarizes much of the research and teaching activity of the Department of Computer Science at Dartmouth College between late 1998 and late 2004. The material for this report was collected as part of the final report for NSF Institutional Infrastructure award EIA-9802068, which funded equipment and technical staff during that six-year period. This equipment and staff supported essentially all of the department\u27s research activity during that period

Aerial base station placement in temporary-event scenarios

Die Anforderungen an den Netzdatenverkehr sind in den letzten Jahren dramatisch gestiegen, was ein großes Interesse an der Entwicklung neuartiger Lösungen zur Erhöhung der Netzkapazität in Mobilfunknetzen erzeugt hat. Besonderes Augenmerk wurde auf das Problem der Kapazitätsverbesserung bei temporären Veranstaltungen gelegt, bei denen das Umfeld im Wesentlichen dynamisch ist. Um der Dynamik der sich verändernden Umgebung gerecht zu werden und die Bodeninfrastruktur durch zusätzliche Kapazität zu unterstützen, wurde der Einsatz von Luftbasisstationen vorgeschlagen. Die Luftbasisstationen können in der Nähe des Nutzers platziert werden und aufgrund der im Vergleich zur Bodeninfrastruktur höheren Lage die Vorteile der Sichtlinienkommunikation nutzen. Dies reduziert den Pfadverlust und ermöglicht eine höhere Kanalkapazität. Das Optimierungsproblem der Maximierung der Netzkapazität durch die richtige Platzierung von Luftbasisstationen bildet einen Schwerpunkt der Arbeit. Es ist notwendig, das Optimierungsproblem rechtzeitig zu lösen, um auf Veränderungen in der dynamischen Funkumgebung zu reagieren. Die optimale Platzierung von Luftbasisstationen stellt jedoch ein NP-schweres Problem dar, wodurch die Lösung nicht trivial ist. Daher besteht ein Bedarf an schnellen und skalierbaren Optimierungsalgorithmen. Als Erstes wird ein neuartiger Hybrid-Algorithmus (Projected Clustering) vorgeschlagen, der mehrere Lösungen auf der Grundlage der schnellen entfernungsbasierten Kapazitätsapproximierung berechnet und sie auf dem genauen SINR-basierten Kapazitätsmodell bewertet. Dabei werden suboptimale Lösungen vermieden. Als Zweites wird ein neuartiges verteiltes, selbstorganisiertes Framework (AIDA) vorgeschlagen, welches nur lokales Wissen verwendet, den Netzwerkmehraufwand verringert und die Anforderungen an die Kommunikation zwischen Luftbasisstationen lockert. Bei der Formulierung des Platzierungsproblems konnte festgestellt werden, dass Unsicherheiten in Bezug auf die Modellierung der Luft-Bodensignalausbreitung bestehen. Da dieser Aspekt im Rahmen der Analyse eine wichtige Rolle spielt, erfolgte eine Validierung moderner Luft-Bodensignalausbreitungsmodelle, indem reale Messungen gesammelt und das genaueste Modell für die Simulationen ausgewählt wurden.As the traffic demands have grown dramatically in recent years, so has the interest in developing novel solutions that increase the network capacity in cellular networks. The problem of capacity improvement is even more complex when applied to a dynamic environment during a disaster or temporary event. The use of aerial base stations has received much attention in the last ten years as the solution to cope with the dynamics of the changing environment and to supplement the ground infrastructure with extra capacity. Due to higher elevations and possibility to place aerial base stations in close proximity to the user, path loss is significantly smaller in comparison to the ground infrastructure, which in turn enables high data capacity. We are studying the optimization problem of maximizing network capacity by proper placement of aerial base stations. To handle the changes in the dynamic radio environment, it is necessary to promptly solve the optimization problem. However, we show that the optimal placement of aerial base stations is the NP-hard problem and its solution is non-trivial, and thus, there is a need for fast and scalable optimization algorithms. This dissertation investigates how to solve the placement problem efficiently and to support the dynamics of temporary events. First, we propose a novel hybrid algorithm (Projected Clustering), which calculates multiple solutions based on the fast distance-based capacity approximation and evaluates them on the accurate SINR-based capacity model, avoiding sub-optimal solutions. Second, we propose a novel distributed, self-organized framework (AIDA), which conducts a decision-making process using only local knowledge, decreasing the network overhead and relaxing the requirements for communication between aerial base stations. During the formulation of the placement problem, we found that there is still considerable uncertainty with regard to air-to-ground propagation modeling. Since this aspect plays an important role in our analysis, we validated state-of-the-art air-to-ground propagation models by collecting real measurements and chose the most accurate model for the simulations

Robust, Resilient Networked Communication in Challenged Environments

In challenged environments, digital communication infrastructure may be difficult or even impossible to access. This is especially true in rural and developing regions, as well as in any region during a time of political or environmental crisis. We advance the state of the art in wireless networking and security to design networks and applications that rapidly assess changing networking conditions to restore communication and provide local situational awareness. This dissertation examines new systems for responding to current and emerging needs for wireless networks. This work looks across the wireless ecosystem of widely deployed standards. We develop new tools to improve network assessment and to provide robust and reliable network communication. By incorporating new technological breakthroughs, such as the wide commercial success of Unmanned Aircraft Systems (UAS), we introduce novel methods and systems for existing wireless standards for these challenged networks. We assess how existing technologies and standards function in difficult environments: lacking end-end Internet connectivity, experiencing overload or other resource constraints, and operating in three dimensional space. Through this lens, we demonstrate how to optimize networks to serve marginalized communities outside of first world urban cities and make our networks resilient to natural and political crisis that threaten communication