GUARDIANS final report part 1 (draft): a robot swarm assisting a human fire fighter

Emergencies in industrial warehouses are a major concern for fire fighters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist re ghters in searching a large warehouse. In this paper we discuss the technology developed for a swarm of robots assisting re ghters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also the means to locate the robots and humans. Thus the robot swarm is able to provide guidance information to the humans. Together with the fire fighters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

GUARDIANS final report

Emergencies in industrial warehouses are a major concern for firefghters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this report we discuss the technology developed for a swarm of robots searching and assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also one of the means to locate the robots and humans. Thus the robot swarm is able to locate itself and provide guidance information to the humans. Together with the re ghters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

Price-Based Optimal Resource Allocation in Multi-Hop Wireless Networks

Recent advances in wireless communications and digital electronics have enabled rapid development of a variety of wireless network technologies. The undeniable popularity of wireless network is due to its ubiquity and convenience, which is appreciated by the users. In this dissertation, we study the problem of resource allocation in multihop wireless networks (so called ad hoc networks). A wireless ad hoc network consists of a collection of wireless nodes without a fixed infrastructure. Two wireless nodes communicate with each other directly, if they are within the transmission range of each other. Otherwise, the communication is achieved through the relays of intermediate nodes. Compared with traditional wireline networks, the unique characteristics of wireless networks pose fundamental challenges to the design of effective resource allocation algorithms that are optimal with respect to resource utilization and fair across different network flows. Particularly, the following issues of wireless networks need fresh treatment: (1) Interference of wireless communication. Flows not only contend at the same node (contention in the time domain), but also compete for shared channel if they are within the interference ranges of each other (contention in the spatial domain). (2) Multiple resource usage. Sending data from one wireless node to another needs to consume multiple resources, most notably wireless bandwidth and battery energy. (3) Autonomous communication entities. The wireless nodes usually belong to different autonomous entities. They may lack the incentive to contribute to the network functionality in a cooperative way. (4) Rate diversity. Wireless nodes can adaptively change the transmission bit rate based on perceived channel conditions. This leads to a wireless network with rate diversity, where competing flows within the interference range transmit at different rates. None of the existing resource allocation algorithms in wireless ad hoc networks have realistically considered end-to-end flows spanning multiple hops. Moreover, strategies proposed for wireline networks are not applicable in the context of wireless ad hoc network, due to its unique characteristics. In this dissertation, we propose a new price-based resource allocation framework in wireless ad hoc networks to achieve optimal resource utilization and fairness among competing end-to-end flows. We build our pricing framework on the notion of maximal cliques in wireless ad hoc networks, as compared to individual links in traditional wide-area wireline networks. Based on such a price-based theoretical framework, we present a two-tier iterative algorithm. Distributed across wireless nodes, the algorithm converges to a global network optimum with respect to resource allocations. Further, we present a price pair mechanism to coordinate multiple resource allocations, and to provide incentives simultaneously such that cooperation is promoted and the desired global optimal network operating point is reached by convergence with a fully decentralized self-optimizing algorithm. Such desired network-wide global optimum is characterized with the concept of Nash bargaining solution, which not only provides the Pareto optimal point for the network, but is also consistent with the fairness axioms of game theory. Finally, we present a channel aware price generation scheme to decompose the bit rate adjustment and the flow rate allocation. The allocation result achieves channel time fairness where user fairness and channel utilization is balanced. The major achievements of this dissertation are outlined as follows. It models a system-wide optimal operation point of a wireless network, and outlines the solution space of resource allocation in a multihop wireless network; It presents a price-based distributed resource allocation algorithm to achieve this global optimal point; It presents a low overhead implementation of the price-based resource allocation algorithm; It presents an incentive mechanism that enables the resource allocation algorithm when users are selfish

Design and optimisation of a low cost Cognitive Mesh Network

Wireless Mesh Networks (WMNs) have been touted as the most promising wireless technology in providing high-bandwidth Internet access to rural, remote and under-served areas, with relatively lower investment cost as compared to traditional access networks. WMNs structurally comprise of mesh routers and mesh clients. Furthermore, WMNs have an envisaged ability to provide a heterogeneous network system that integrates wireless technologies such as IEEE 802.22 WRAN, IEEE 802.16 WiMAX, IEEE 802.11 Wi-Fi, Blue-tooth etc. The recent proliferation of new devices on the market such as smart phones and, tablets, and the growing number of resource hungry applications has placed a serious strain on spectrum availability which gives rise to the spectrum scarcity problem. The spectrum scarcity problem essentially results in increased spectrum prices that hamper the growth and efficient performance of WMNs as well as subsequent transformation of WMN into the envisaged next generation networks. Recent developments in TV white space communications technology and the emergence of Cognitive radio devices that facilitate Dynamic Spectrum Access (DSA) have provided an opportunity to mitigate the spectrum scarcity problem. To solve the scarcity problem, this thesis reconsiders the classical Network Engineering (NE) and Traffic Engineering (TE) problems to objectively design a low cost Cognitive Mesh network that promotes efficient resources utilization and thereby achieve better Quality of Service (QoS) levels

Learning for Cross-layer Resource Allocation in the Framework of Cognitive Wireless Networks

The framework of cognitive wireless networks is expected to endow wireless devices with a cognition-intelligence ability with which they can efficiently learn and respond to the dynamic wireless environment. In this dissertation, we focus on the problem of developing cognitive network control mechanisms without knowing in advance an accurate network model. We study a series of cross-layer resource allocation problems in cognitive wireless networks. Based on model-free learning, optimization and game theory, we propose a framework of self-organized, adaptive strategy learning for wireless devices to (implicitly) build the understanding of the network dynamics through trial-and-error. The work of this dissertation is divided into three parts. In the first part, we investigate a distributed, single-agent decision-making problem for real-time video streaming over a time-varying wireless channel between a single pair of transmitter and receiver. By modeling the joint source-channel resource allocation process for video streaming as a constrained Markov decision process, we propose a reinforcement learning scheme to search for the optimal transmission policy without the need to know in advance the details of network dynamics. In the second part of this work, we extend our study from the single-agent to a multi-agent decision-making scenario, and study the energy-efficient power allocation problems in a two-tier, underlay heterogeneous network and in a self-sustainable green network. For the heterogeneous network, we propose a stochastic learning algorithm based on repeated games to allow individual macro- or femto-users to find a Stackelberg equilibrium without flooding the network with local action information. For the self-sustainable green network, we propose a combinatorial auction mechanism that allows mobile stations to adaptively choose the optimal base station and sub-carrier group for transmission only from local payoff and transmission strategy information. In the third part of this work, we study a cross-layer routing problem in an interweaved Cognitive Radio Network (CRN), where an accurate network model is not available and the secondary users that are distributed within the CRN only have access to local action/utility information. In order to develop a spectrum-aware routing mechanism that is robust against potential insider attackers, we model the uncoordinated interaction between CRN nodes in the dynamic wireless environment as a stochastic game. Through decomposition of the stochastic routing game, we propose two stochastic learning algorithm based on a group of repeated stage games for the secondary users to learn the best-response strategies without the need of information flooding

Multicast networks : capacity, algorithms, and implementation

textIn this dissertation, we investigate the capacity and performance of wireless networks with an emphasis on multicast traffic. The defining characteristic of a multicast network is a network where a number of different destinations all require the information generated by a single source. The models that we explore differ in the nature of the nodes from all-mobile case where all nodes are mobile to hybrid case where some nodes are mobile and some are static. We investigate different performance measure for these wireless multicast networks: upper bounds, capacity scaling laws, and achievable rates. The understanding of these measures for such networks helps in the development of efficient algorithms for operating these networks. In addition, we study the practical realization of algorithms for real-time streaming of rich multimedia content in the context of mobile wireless networks for embedded and cyberphysical systems. Our initial work is in the context of unicast and multiple unicast systems over an autonomous aerial vehicle (AAV) network. Bandwidth requirements and stringent delay constraints of real-time video streaming, paired with limitations on computational complexity and power consumptions imposed by the underlying implementation platform, make cross-layer and cross-domain co-design approaches a necessity. In this dissertation, we propose a novel, low-complexity rate-distortion optimized (RDO) protocol specifically targeted at video streaming over mobile embedded networks. First, we test the performance of our RDO algorithm on simulation models developed for aerial mobility of multiple wirelessly communicating AAVs. Second, we test the performance of our RDO algorithm and other proposed adaptive algorithms on a real network of AAVs and present a comparative study between these different algorithms. Note that generalizing these algorithms to multicast settings is relatively straightforward and thus is not highlighted to a great degree in this thesis.Electrical and Computer Engineerin

Optimality of Treating Interference as Noise: A Combinatorial Perspective

For single-antenna Gaussian interference channels, we re-formulate the problem of determining the Generalized Degrees of Freedom (GDoF) region achievable by treating interference as Gaussian noise (TIN) derived in [3] from a combinatorial perspective. We show that the TIN power control problem can be cast into an assignment problem, such that the globally optimal power allocation variables can be obtained by well-known polynomial time algorithms. Furthermore, the expression of the TIN-Achievable GDoF region (TINA region) can be substantially simplified with the aid of maximum weighted matchings. We also provide conditions under which the TINA region is a convex polytope that relax those in [3]. For these new conditions, together with a channel connectivity (i.e., interference topology) condition, we show TIN optimality for a new class of interference networks that is not included, nor includes, the class found in [3]. Building on the above insights, we consider the problem of joint link scheduling and power control in wireless networks, which has been widely studied as a basic physical layer mechanism for device-to-device (D2D) communications. Inspired by the relaxed TIN channel strength condition as well as the assignment-based power allocation, we propose a low-complexity GDoF-based distributed link scheduling and power control mechanism (ITLinQ+) that improves upon the ITLinQ scheme proposed in [4] and further improves over the heuristic approach known as FlashLinQ. It is demonstrated by simulation that ITLinQ+ provides significant average network throughput gains over both ITLinQ and FlashLinQ, and yet still maintains the same level of implementation complexity. More notably, the energy efficiency of the newly proposed ITLinQ+ is substantially larger than that of ITLinQ and FlashLinQ, which is desirable for D2D networks formed by battery-powered devices.Comment: A short version has been presented at IEEE International Symposium on Information Theory (ISIT 2015), Hong Kon

Architectures and synchronization techniques for distributed satellite systems: a survey

Cohesive Distributed Satellite Systems (CDSSs) is a key enabling technology for the future of remote sensing and communication missions. However, they have to meet strict synchronization requirements before their use is generalized. When clock or local oscillator signals are generated locally at each of the distributed nodes, achieving exact synchronization in absolute phase, frequency, and time is a complex problem. In addition, satellite systems have significant resource constraints, especially for small satellites, which are envisioned to be part of the future CDSSs. Thus, the development of precise, robust, and resource-efficient synchronization techniques is essential for the advancement of future CDSSs. In this context, this survey aims to summarize and categorize the most relevant results on synchronization techniques for Distributed Satellite Systems (DSSs). First, some important architecture and system concepts are defined. Then, the synchronization methods reported in the literature are reviewed and categorized. This article also provides an extensive list of applications and examples of synchronization techniques for DSSs in addition to the most significant advances in other operations closely related to synchronization, such as inter-satellite ranging and relative position. The survey also provides a discussion on emerging data-driven synchronization techniques based on Machine Learning (ML). Finally, a compilation of current research activities and potential research topics is proposed, identifying problems and open challenges that can be useful for researchers in the field.This work was supported by the Luxembourg National Research Fund (FNR), through the CORE Project COHEsive SATellite (COHESAT): Cognitive Cohesive Networks of Distributed Units for Active and Passive Space Applications, under Grant FNR11689919.Award-winningPostprint (published version

Contention techniques for opportunistic communication in wireless mesh networks

Auf dem Gebiet der drahtlosen Kommunikation und insbesondere auf den tieferen Netzwerkschichten sind gewaltige Fortschritte zu verzeichnen. Innovative Konzepte und Technologien auf der physikalischen Schicht (PHY) gehen dabei zeitnah in zelluläre Netze ein. Drahtlose Maschennetzwerke (WMNs) können mit diesem Innovationstempo nicht mithalten. Die Mehrnutzer-Kommunikation ist ein Grundpfeiler vieler angewandter PHY Technologien, die sich in WMNs nur ungenügend auf die etablierte Schichtenarchitektur abbilden lässt. Insbesondere ist das Problem des Scheduling in WMNs inhärent komplex. Erstaunlicherweise ist der Mehrfachzugriff mit Trägerprüfung (CSMA) in WMNs asymptotisch optimal obwohl das Verfahren eine geringe Durchführungskomplexität aufweist. Daher stellt sich die Frage, in welcher Weise das dem CSMA zugrunde liegende Konzept des konkurrierenden Wettbewerbs (engl. Contention) für die Integration innovativer PHY Technologien verwendet werden kann. Opportunistische Kommunikation ist eine Technik, die die inhärenten Besonderheiten des drahtlosen Kanals ausnutzt. In der vorliegenden Dissertation werden CSMA-basierte Protokolle für die opportunistische Kommunikation in WMNs entwickelt und evaluiert. Es werden dabei opportunistisches Routing (OR) im zustandslosen Kanal und opportunistisches Scheduling (OS) im zustandsbehafteten Kanal betrachtet. Ziel ist es, den Durchsatz von elastischen Paketflüssen gerecht zu maximieren. Es werden Modelle für Überlastkontrolle, Routing und konkurrenzbasierte opportunistische Kommunikation vorgestellt. Am Beispiel von IEEE 802.11 wird illustriert, wie der schichtübergreifende Entwurf in einem Netzwerksimulator prototypisch implementiert werden kann. Auf Grundlage der Evaluationsresultate kann der Schluss gezogen werden, dass die opportunistische Kommunikation konkurrenzbasiert realisierbar ist. Darüber hinaus steigern die vorgestellten Protokolle den Durchsatz im Vergleich zu etablierten Lösungen wie etwa DCF, DSR, ExOR, RBAR und ETT.In the field of wireless communication, a tremendous progress can be observed especially at the lower layers. Innovative physical layer (PHY) concepts and technologies can be rapidly assimilated in cellular networks. Wireless mesh networks (WMNs), on the other hand, cannot keep up with the speed of innovation at the PHY due to their flat and decentralized architecture. Many innovative PHY technologies rely on multi-user communication, so that the established abstraction of the network stack does not work well for WMNs. The scheduling problem in WMNs is inherent complex. Surprisingly, carrier sense multiple access (CSMA) in WMNs is asymptotically utility-optimal even though it has a low computational complexity and does not involve message exchange. Hence, the question arises whether CSMA and the underlying concept of contention allows for the assimilation of advanced PHY technologies into WMNs. In this thesis, we design and evaluate contention protocols based on CSMA for opportunistic communication in WMNs. Opportunistic communication is a technique that relies on multi-user diversity in order to exploit the inherent characteristics of the wireless channel. In particular, we consider opportunistic routing (OR) and opportunistic scheduling (OS) in memoryless and slow fading channels, respectively. We present models for congestion control, routing and contention-based opportunistic communication in WMNs in order to maximize both throughput and fairness of elastic unicast traffic flows. At the instance of IEEE 802.11, we illustrate how the cross-layer algorithms can be implemented within a network simulator prototype. Our evaluation results lead to the conclusion that contention-based opportunistic communication is feasible. Furthermore, the proposed protocols increase both throughput and fairness in comparison to state-of-the-art approaches like DCF, DSR, ExOR, RBAR and ETT

Cognitive MAC protocols for mobile Ad-Hoc networks

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.The term of Cognitive Radio (CR) used to indicate that spectrum radio could be accessed dynamically and opportunistically by unlicensed users. In CR Networks, Interference between nodes, hidden terminal problem, and spectrum sensing errors are big issues to be widely discussed in the research field nowadays. To improve the performance of such kind of networks, this thesis proposes Cognitive Medium Access Control (MAC) protocols for Mobile Ad-Hoc Networks (MANETs). From the concept of CR, this thesis has been able to develop a cognitive MAC framework in which a cognitive process consisting of cognitive elements is considered, which can make efficient decisions to optimise the CR network. In this context, three different scenarios to maximize the secondary user's throughput have been proposed. We found that the throughput improvement depends on the transition probabilities. However, considering the past information state of the spectrum can dramatically increases the secondary user's throughput by up to 40%. Moreover, by increasing the number of channels, the throughput of the network can be improved about 25%. Furthermore, to study the impact of Physical (PHY) Layer errors on cognitive MAC layer in MANETs, in this thesis, a Sensing Error-Aware MAC protocols for MANETs has been proposed. The developed model has been able to improve the MAC layer performance under the challenge of sensing errors. In this context, the proposed model examined two sensing error probabilities: the false alarm probability and the missed detection probability. The simulation results have shown that both probabilities could be adapted to maintain the false alarm probability at certain values to achieve good results. Finally, in this thesis, a cooperative sensing scheme with interference mitigation for Cognitive Wireless Mesh Networks (CogMesh) has been proposed. Moreover, a prioritybased traffic scenario to analyze the problem of packet delay and a novel technique for dynamic channel allocation in CogMesh is presented. Considering each channel in the system as a sub-server, the average delay of the users' packets is reduced and the cooperative sensing scenario dramatically increases the network throughput 50% more as the number of arrival rate is increased