7,472 research outputs found
An efficient genetic algorithm for large-scale planning of robust industrial wireless networks
An industrial indoor environment is harsh for wireless communications
compared to an office environment, because the prevalent metal easily causes
shadowing effects and affects the availability of an industrial wireless local
area network (IWLAN). On the one hand, it is costly, time-consuming, and
ineffective to perform trial-and-error manual deployment of wireless nodes. On
the other hand, the existing wireless planning tools only focus on office
environments such that it is hard to plan IWLANs due to the larger problem size
and the deployed IWLANs are vulnerable to prevalent shadowing effects in harsh
industrial indoor environments. To fill this gap, this paper proposes an
overdimensioning model and a genetic algorithm based over-dimensioning (GAOD)
algorithm for deploying large-scale robust IWLANs. As a progress beyond the
state-of-the-art wireless planning, two full coverage layers are created. The
second coverage layer serves as redundancy in case of shadowing. Meanwhile, the
deployment cost is reduced by minimizing the number of access points (APs); the
hard constraint of minimal inter-AP spatial paration avoids multiple APs
covering the same area to be simultaneously shadowed by the same obstacle. The
computation time and occupied memory are dedicatedly considered in the design
of GAOD for large-scale optimization. A greedy heuristic based
over-dimensioning (GHOD) algorithm and a random OD algorithm are taken as
benchmarks. In two vehicle manufacturers with a small and large indoor
environment, GAOD outperformed GHOD with up to 20% less APs, while GHOD
outputted up to 25% less APs than a random OD algorithm. Furthermore, the
effectiveness of this model and GAOD was experimentally validated with a real
deployment system
A Robust Zero-Calibration RF-based Localization System for Realistic Environments
Due to the noisy indoor radio propagation channel, Radio Frequency (RF)-based
location determination systems usually require a tedious calibration phase to
construct an RF fingerprint of the area of interest. This fingerprint varies
with the used mobile device, changes of the transmit power of smart access
points (APs), and dynamic changes in the environment; requiring re-calibration
of the area of interest; which reduces the technology ease of use. In this
paper, we present IncVoronoi: a novel system that can provide zero-calibration
accurate RF-based indoor localization that works in realistic environments. The
basic idea is that the relative relation between the received signal strength
from two APs at a certain location reflects the relative distance from this
location to the respective APs. Building on this, IncVoronoi incrementally
reduces the user ambiguity region based on refining the Voronoi tessellation of
the area of interest. IncVoronoi also includes a number of modules to
efficiently run in realtime as well as to handle practical deployment issues
including the noisy wireless environment, obstacles in the environment,
heterogeneous devices hardware, and smart APs. We have deployed IncVoronoi on
different Android phones using the iBeacons technology in a university campus.
Evaluation of IncVoronoi with a side-by-side comparison with traditional
fingerprinting techniques shows that it can achieve a consistent median
accuracy of 2.8m under different scenarios with a low beacon density of one
beacon every 44m2. Compared to fingerprinting techniques, whose accuracy
degrades by at least 156%, this accuracy comes with no training overhead and is
robust to the different user devices, different transmit powers, and over
temporal changes in the environment. This highlights the promise of IncVoronoi
as a next generation indoor localization system.Comment: 9 pages, 13 figures, published in SECON 201
Spatiotemporal Attention Enhances Lidar-Based Robot Navigation in Dynamic Environments
Foresighted robot navigation in dynamic indoor environments with
cost-efficient hardware necessitates the use of a lightweight yet dependable
controller. So inferring the scene dynamics from sensor readings without
explicit object tracking is a pivotal aspect of foresighted navigation among
pedestrians. In this paper, we introduce a spatiotemporal attention pipeline
for enhanced navigation based on 2D lidar sensor readings. This pipeline is
complemented by a novel lidar-state representation that emphasizes dynamic
obstacles over static ones. Subsequently, the attention mechanism enables
selective scene perception across both space and time, resulting in improved
overall navigation performance within dynamic scenarios. We thoroughly
evaluated the approach in different scenarios and simulators, finding good
generalization to unseen environments. The results demonstrate outstanding
performance compared to state-of-the-art methods, thereby enabling the seamless
deployment of the learned controller on a real robot
PRM-RL: Long-range Robotic Navigation Tasks by Combining Reinforcement Learning and Sampling-based Planning
We present PRM-RL, a hierarchical method for long-range navigation task
completion that combines sampling based path planning with reinforcement
learning (RL). The RL agents learn short-range, point-to-point navigation
policies that capture robot dynamics and task constraints without knowledge of
the large-scale topology. Next, the sampling-based planners provide roadmaps
which connect robot configurations that can be successfully navigated by the RL
agent. The same RL agents are used to control the robot under the direction of
the planning, enabling long-range navigation. We use the Probabilistic Roadmaps
(PRMs) for the sampling-based planner. The RL agents are constructed using
feature-based and deep neural net policies in continuous state and action
spaces. We evaluate PRM-RL, both in simulation and on-robot, on two navigation
tasks with non-trivial robot dynamics: end-to-end differential drive indoor
navigation in office environments, and aerial cargo delivery in urban
environments with load displacement constraints. Our results show improvement
in task completion over both RL agents on their own and traditional
sampling-based planners. In the indoor navigation task, PRM-RL successfully
completes up to 215 m long trajectories under noisy sensor conditions, and the
aerial cargo delivery completes flights over 1000 m without violating the task
constraints in an environment 63 million times larger than used in training.Comment: 9 pages, 7 figure
Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR
This paper addressed the challenge of exploring large, unknown, and unstructured
industrial environments with an unmanned aerial vehicle (UAV). The resulting system combined
well-known components and techniques with a new manoeuvre to use a low-cost 2D laser to measure
a 3D structure. Our approach combined frontier-based exploration, the Lazy Theta* path planner, and
a flyby sampling manoeuvre to create a 3D map of large scenarios. One of the novelties of our system
is that all the algorithms relied on the multi-resolution of the octomap for the world representation.
We used a Hardware-in-the-Loop (HitL) simulation environment to collect accurate measurements
of the capability of the open-source system to run online and on-board the UAV in real-time. Our
approach is compared to different reference heuristics under this simulation environment showing
better performance in regards to the amount of explored space. With the proposed approach, the UAV
is able to explore 93% of the search space under 30 min, generating a path without repetition that
adjusts to the occupied space covering indoor locations, irregular structures, and suspended obstaclesUnión Europea Marie Sklodowska-Curie 64215Unión Europea MULTIDRONE (H2020-ICT-731667)Uniión Europea HYFLIERS (H2020-ICT-779411
An efficient genetic algorithm for large-scale transmit power control of dense and robust wireless networks in harsh industrial environments
The industrial wireless local area network (IWLAN) is increasingly dense, due to not only the penetration of wireless applications to shop floors and warehouses, but also the rising need of redundancy for robust wireless coverage. Instead of simply powering on all access points (APs), there is an unavoidable need to dynamically control the transmit power of APs on a large scale, in order to minimize interference and adapt the coverage to the latest shadowing effects of dominant obstacles in an industrial indoor environment. To fulfill this need, this paper formulates a transmit power control (TPC) model that enables both powering on/off APs and transmit power calibration of each AP that is powered on. This TPC model uses an empirical one-slope path loss model considering three-dimensional obstacle shadowing effects, to enable accurate yet simple coverage prediction. An efficient genetic algorithm (GA), named GATPC, is designed to solve this TPC model even on a large scale. To this end, it leverages repair mechanism-based population initialization, crossover and mutation, parallelism as well as dedicated speedup measures. The GATPC was experimentally validated in a small-scale IWLAN that is deployed a real industrial indoor environment. It was further numerically demonstrated and benchmarked on both small- and large-scales, regarding the effectiveness and the scalability of TPC. Moreover, sensitivity analysis was performed to reveal the produced interference and the qualification rate of GATPC in function of varying target coverage percentage as well as number and placement direction of dominant obstacles. (C) 2018 Elsevier B.V. All rights reserved
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