Task allocation in group of nodes in the IoT: A consensus approach

The realization of the Internet of Things (IoT) paradigm relies on the implementation of systems of cooperative intelligent objects with key interoperability capabilities. In order for objects to dynamically cooperate to IoT applications' execution, they need to make their resources available in a flexible way. However, available resources such as electrical energy, memory, processing, and object capability to perform a given task, are often limited. Therefore, resource allocation that ensures the fulfilment of network requirements is a critical challenge. In this paper, we propose a distributed optimization protocol based on consensus algorithm, to solve the problem of resource allocation and management in IoT heterogeneous networks. The proposed protocol is robust against links or nodes failures, so it's adaptive in dynamic scenarios where the network topology changes in runtime. We consider an IoT scenario where nodes involved in the same IoT task need to adjust their task frequency and buffer occupancy. We demonstrate that, using the proposed protocol, the network converges to a solution where resources are homogeneously allocated among nodes. Performance evaluation of experiments in simulation mode and in real scenarios show that the algorithm converges with a percentage error of about±5% with respect to the optimal allocation obtainable with a centralized approach

AWARE: Platform for Autonomous self-deploying and operation of Wireless sensor-actuator networks cooperating with unmanned AeRial vehiclEs

This paper presents the AWARE platform that seeks to enable the cooperation of autonomous aerial vehicles with ground wireless sensor-actuator networks comprising both static and mobile nodes carried by vehicles or people. Particularly, the paper presents the middleware, the wireless sensor network, the node deployment by means of an autonomous helicopter, and the surveillance and tracking functionalities of the platform. Furthermore, the paper presents the first general experiments of the AWARE project that took place in March 2007 with the assistance of the Seville fire brigades

Long-term experiments with an adaptive spherical view representation for navigation in changing environments

Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In this work, we introduce a method to update the reference views in a hybrid metric-topological map so that a mobile robot can continue to localize itself in a changing environment. The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, which enables the robot to estimate its heading and navigate using multi-view geometry, as well as representing the local 3D geometry of the environment. A series of experiments demonstrate the persistence performance of the proposed system in real changing environments, including analysis of the long-term stability

Distributed Object Tracking Using a Cluster-Based Kalman Filter in Wireless Camera Networks

Local data aggregation is an effective means to save sensor node energy and prolong the lifespan of wireless sensor networks. However, when a sensor network is used to track moving objects, the task of local data aggregation in the network presents a new set of challenges, such as the necessity to estimate, usually in real time, the constantly changing state of the target based on information acquired by the nodes at different time instants. To address these issues, we propose a distributed object tracking system which employs a cluster-based Kalman filter in a network of wireless cameras. When a target is detected, cameras that can observe the same target interact with one another to form a cluster and elect a cluster head. Local measurements of the target acquired by members of the cluster are sent to the cluster head, which then estimates the target position via Kalman filtering and periodically transmits this information to a base station. The underlying clustering protocol allows the current state and uncertainty of the target position to be easily handed off among clusters as the object is being tracked. This allows Kalman filter-based object tracking to be carried out in a distributed manner. An extended Kalman filter is necessary since measurements acquired by the cameras are related to the actual position of the target by nonlinear transformations. In addition, in order to take into consideration the time uncertainty in the measurements acquired by the different cameras, it is necessary to introduce nonlinearity in the system dynamics. Our object tracking protocol requires the transmission of significantly fewer messages than a centralized tracker that naively transmits all of the local measurements to the base station. It is also more accurate than a decentralized tracker that employs linear interpolation for local data aggregation. Besides, the protocol is able to perform real-time estimation because our implementation takes into consideration the sparsit- - y of the matrices involved in the problem. The experimental results show that our distributed object tracking protocol is able to achieve tracking accuracy comparable to the centralized tracking method, while requiring a significantly smaller number of message transmissions in the network

People-Sensing Spatial Characteristics of RF Sensor Networks

An "RF sensor" network can monitor RSS values on links in the network and perform device-free localization, i.e., locating a person or object moving in the area in which the network is deployed. This paper provides a statistical model for the RSS variance as a function of the person's position w.r.t. the transmitter (TX) and receiver (RX). We show that the ensemble mean of the RSS variance has an approximately linear relationship with the expected total affected power (ETAP). We then use analysis to derive approximate expressions for the ETAP as a function of the person's position, for both scattering and reflection. Counterintuitively, we show that reflection, not scattering, causes the RSS variance contours to be shaped like Cassini ovals. Experimental tests reported here and in past literature are shown to validate the analysis

Realtime State Estimation with Tactile and Visual sensing. Application to Planar Manipulation

Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the object from the visual sensor. The robot then loses visual feedback and must fall back on open-loop execution. In this paper, we integrate both tactile and visual input using a framework for solving the SLAM problem, incremental smoothing and mapping (iSAM), to provide a fast and flexible solution. Visual sensing provides global pose information but is noisy in general, whereas contact sensing is local, but its measurements are more accurate relative to the end-effector. By combining them, we aim to exploit their advantages and overcome their limitations. We explore the technique in the context of a pusher-slider system. We adapt iSAM's measurement cost and motion cost to the pushing scenario, and use an instrumented setup to evaluate the estimation quality with different object shapes, on different surface materials, and under different contact modes