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

Route Swarm: Wireless Network Optimization through Mobility

In this paper, we demonstrate a novel hybrid architecture for coordinating networked robots in sensing and information routing applications. The proposed INformation and Sensing driven PhysIcally REconfigurable robotic network (INSPIRE), consists of a Physical Control Plane (PCP) which commands agent position, and an Information Control Plane (ICP) which regulates information flow towards communication/sensing objectives. We describe an instantiation where a mobile robotic network is dynamically reconfigured to ensure high quality routes between static wireless nodes, which act as source/destination pairs for information flow. The ICP commands the robots towards evenly distributed inter-flow allocations, with intra-flow configurations that maximize route quality. The PCP then guides the robots via potential-based control to reconfigure according to ICP commands. This formulation, deemed Route Swarm, decouples information flow and physical control, generating a feedback between routing and sensing needs and robotic configuration. We demonstrate our propositions through simulation under a realistic wireless network regime.Comment: 9 pages, 4 figures, submitted to the IEEE International Conference on Intelligent Robots and Systems (IROS) 201

Design and Analysis of SD_DWCA - A Mobility based clustering of Homogeneous MANETs

This paper deals with the design and analysis of the distributed weighted clustering algorithm SD_DWCA proposed for homogeneous mobile ad hoc networks. It is a connectivity, mobility and energy based clustering algorithm which is suitable for scalable ad hoc networks. The algorithm uses a new graph parameter called strong degree defined based on the quality of neighbours of a node. The parameters are so chosen to ensure high connectivity, cluster stability and energy efficient communication among nodes of high dynamic nature. This paper also includes the experimental results of the algorithm implemented using the network simulator NS2. The experimental results show that the algorithm is suitable for high speed networks and generate stable clusters with less maintenance overhead

Synergizing Roadway Infrastructure Investment with Digital Infrastructure for Infrastructure-Based Connected Vehicle Applications: Review of Current Status and Future Directions

The file attached to this record is the author's final peer reviewed version. The Publisher's final version can be found by following the DOI link.The safety, mobility, environmental and economic benefits of Connected and Autonomous Vehicles (CAVs) are potentially dramatic. However, realization of these benefits largely hinges on the timely upgrading of the existing transportation system. CAVs must be enabled to send and receive data to and from other vehicles and drivers (V2V communication) and to and from infrastructure (V2I communication). Further, infrastructure and the transportation agencies that manage it must be able to collect, process, distribute and archive these data quickly, reliably, and securely. This paper focuses on current digital roadway infrastructure initiatives and highlights the importance of including digital infrastructure investment alongside more traditional infrastructure investment to keep up with the auto industry's push towards this real time communication and data processing capability. Agencies responsible for transportation infrastructure construction and management must collaborate, establishing national and international platforms to guide the planning, deployment and management of digital infrastructure in their jurisdictions. This will help create standardized interoperable national and international systems so that CAV technology is not deployed in a haphazard and uncoordinated manner

An Overview of Mobile Ad Hoc Networks for the Existing Protocols and Applications

Mobile Ad Hoc Network (MANET) is a collection of two or more devices or nodes or terminals with wireless communications and networking capability that communicate with each other without the aid of any centralized administrator also the wireless nodes that can dynamically form a network to exchange information without using any existing fixed network infrastructure. And it's an autonomous system in which mobile hosts connected by wireless links are free to be dynamically and some time act as routers at the same time, and we discuss in this paper the distinct characteristics of traditional wired networks, including network configuration may change at any time, there is no direction or limit the movement and so on, and thus needed a new optional path Agreement (Routing Protocol) to identify nodes for these actions communicate with each other path, An ideal choice way the agreement should not only be able to find the right path, and the Ad Hoc Network must be able to adapt to changing network of this type at any time. and we talk in details in this paper all the information of Mobile Ad Hoc Network which include the History of ad hoc, wireless ad hoc, wireless mobile approaches and types of mobile ad Hoc networks, and then we present more than 13 types of the routing Ad Hoc Networks protocols have been proposed. In this paper, the more representative of routing protocols, analysis of individual characteristics and advantages and disadvantages to collate and compare, and present the all applications or the Possible Service of Ad Hoc Networks.Comment: 24 Pages, JGraph-Hoc Journa