Communication-aware motion planning in mobile networks

Over the past few years, considerable progress has been made in the area of networked robotic systems and mobile sensor networks. The vision of a mobile sensor network cooperatively learning and adapting in harsh unknown environments to achieve a common goal is closer than ever. In addition to sensing, communication plays a key role in the overall performance of a mobile network, as nodes need to cooperate to achieve their tasks and thus have to communicate vital information in environments that are typically challenging for communication. Therefore, in order to realize the full potentials of such networks, an integrative approach to sensing (information gathering), communication (information exchange), and motion planning is needed, such that each mobile sensor considers the impact of its motion decisions on both sensing and communication, and optimizes its trajectory accordingly. This is the main motivation for this dissertation. This dissertation focuses on communication-aware motion planning of mobile networks in the presence of realistic communication channels that experience path loss, shadowing and multipath fading. This is a challenging multi-disciplinary task. It requires an assessment of wireless link qualities at places that are not yet visited by the mobile sensors as well as a proper co-optimization of sensing, communication and navigation objectives, such that each mobile sensor chooses a trajectory that provides the best balance between its sensing and communication, while satisfying the constraints on its connectivity, motion and energy consumption. While some trajectories allow the mobile sensors to sense efficiently, they may not result in a good communication. On the other hand, trajectories that optimize communication may result in poor sensing. The main contribution of this dissertation is then to address these challenges by proposing a new paradigm for communication-aware motion planning in mobile networks. We consider three examples from networked robotics and mobile sensor network literature: target tracking, surveillance and dynamic coverage. For these examples, we show how probabilistic assessment of the channel can be used to integrate sensing, communication and navigation objectives when planning the motion in order to guarantee satisfactory performance of the network in realistic communication settings. Specifically, we characterize the performance of the proposed framework mathematically and unveil new and considerably more efficient system behaviors. Finally, since multipath fading cannot be assessed, proper strategies are needed to increase the robustness of the network to multipath fading and other modeling/channel assessment errors. We further devise such robustness strategies in the context of our communication-aware surveillance scenario. Overall, our results show the superior performance of the proposed motion planning approaches in realistic fading environments and provide an in-depth understanding of the underlying design trade-off space

A Self-organizing Hybrid Sensor System With Distributed Data Fusion For Intruder Tracking And Surveillance

A wireless sensor network is a network of distributed nodes each equipped with its own sensors, computational resources and transceivers. These sensors are designed to be able to sense specific phenomenon over a large geographic area and communicate this information to the user. Most sensor networks are designed to be stand-alone systems that can operate without user intervention for long periods of time. While the use of wireless sensor networks have been demonstrated in various military and commercial applications, their full potential has not been realized primarily due to the lack of efficient methods to self organize and cover the entire area of interest. Techniques currently available focus solely on homogeneous wireless sensor networks either in terms of static networks or mobile networks and suffers from device specific inadequacies such as lack of coverage, power and fault tolerance. Failing nodes result in coverage loss and breakage in communication connectivity and hence there is a pressing need for a fault tolerant system to allow replacing of the failed nodes. In this dissertation, a unique hybrid sensor network is demonstrated that includes a host of mobile sensor platforms. It is shown that the coverage area of the static sensor network can be improved by self-organizing the mobile sensor platforms to allow interaction with the static sensor nodes and thereby increase the coverage area. The performance of the hybrid sensor network is analyzed for a set of N mobile sensors to determine and optimize parameters such as the position of the mobile nodes for maximum coverage of the sensing area without loss of signal between the mobile sensors, static nodes and the central control station. A novel approach to tracking dynamic targets is also presented. Unlike other tracking methods that are based on computationally complex methods, the strategy adopted in this work is based on a computationally simple but effective technique of received signal strength indicator measurements. The algorithms developed in this dissertation are based on a number of reasonable assumptions that are easily verified in a densely distributed sensor network and require simple computations that efficiently tracks the target in the sensor field. False alarm rate, probability of detection and latency are computed and compared with other published techniques. The performance analysis of the tracking system is done on an experimental testbed and also through simulation and the improvement in accuracy over other methods is demonstrated

Feedback Mechanisms for Centralized and Distributed Mobile Systems

The wireless communication market is expected to witness considerable growth in the immediate future due to increasing smart device usage to access real-time data. Mobile devices become the predominant method of Internet access via cellular networks (4G/5G) and the onset of virtual reality (VR), ushering in the wide deployment of multiple bands, ranging from TVWhite Spaces to cellular/WiFi bands and on to mmWave. Multi-antenna techniques have been considered to be promising approaches in telecommunication to optimize the utilization of radio spectrum and minimize the cost of system construction. The performance of multiple antenna technology depends on the utilization of radio propagation properties and feedback of such information in a timely manner. However, when a signal is transmitted, it is usually dispersed over time coming over different paths of different lengths due to reflections from obstacles or affected by Doppler shift in mobile environments. This motivates the design of novel feedback mechanisms that improve the performance of multi-antenna systems. Accurate channel state information (CSI) is essential to increasing throughput in multiinput, multi-output (MIMO) systems with digital beamforming. Channel-state information for the operation of MIMO schemes (such as transmit diversity or spatial multiplexing) can be acquired by feedback of CSI reports in the downlink direction, or inferred from uplink measurements assuming perfect channel reciprocity (CR). However, most works make the assumption that channels are perfectly reciprocal. This assumption is often incorrect in practice due to poor channel estimation and imperfect channel feedback. Instead, experiments have demonstrated that channel reciprocity can be easily broken by multiple factors. Specifically, channel reciprocity error (CRE) introduced by transmitter-receiver imbalance have been widely studied by both simulations and experiments, and the impact of mobility and estimation error have been fully investigated in this thesis. In particular, unmanned aerial vehicles (UAVs) have asymmetric behavior when communicating with one another and to the ground, due to differences in altitude that frequently occur. Feedback mechanisms are also affected by channel differences caused by the user’s body. While there has been work to specifically quantify the losses in signal reception, there has been little work on how these channel differences affect feedback mechanisms. In this dissertation, we perform system-level simulations, implement design with a software defined radio platform, conduct in-field experiments for various wireless communication systems to analyze different channel feedback mechanisms. To explore the feedback mechanism, we then explore two specific real world scenarios, including UAV-based beamforming communications, and user-induced feedback systems