4,487 research outputs found
Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms
The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications
The Quest for Scalability and Accuracy in the Simulation of the Internet of Things: an Approach based on Multi-Level Simulation
This paper presents a methodology for simulating the Internet of Things (IoT)
using multi-level simulation models. With respect to conventional simulators,
this approach allows us to tune the level of detail of different parts of the
model without compromising the scalability of the simulation. As a use case, we
have developed a two-level simulator to study the deployment of smart services
over rural territories. The higher level is base on a coarse grained,
agent-based adaptive parallel and distributed simulator. When needed, this
simulator spawns OMNeT++ model instances to evaluate in more detail the issues
concerned with wireless communications in restricted areas of the simulated
world. The performance evaluation confirms the viability of multi-level
simulations for IoT environments.Comment: Proceedings of the IEEE/ACM International Symposium on Distributed
Simulation and Real Time Applications (DS-RT 2017
Highly intensive data dissemination in complex networks
This paper presents a study on data dissemination in unstructured
Peer-to-Peer (P2P) network overlays. The absence of a structure in unstructured
overlays eases the network management, at the cost of non-optimal mechanisms to
spread messages in the network. Thus, dissemination schemes must be employed
that allow covering a large portion of the network with a high probability
(e.g.~gossip based approaches). We identify principal metrics, provide a
theoretical model and perform the assessment evaluation using a high
performance simulator that is based on a parallel and distributed architecture.
A main point of this study is that our simulation model considers
implementation technical details, such as the use of caching and Time To Live
(TTL) in message dissemination, that are usually neglected in simulations, due
to the additional overhead they cause. Outcomes confirm that these technical
details have an important influence on the performance of dissemination schemes
and that the studied schemes are quite effective to spread information in P2P
overlay networks, whatever their topology. Moreover, the practical usage of
such dissemination mechanisms requires a fine tuning of many parameters, the
choice between different network topologies and the assessment of behaviors
such as free riding. All this can be done only using efficient simulation tools
to support both the network design phase and, in some cases, at runtime
Telecommunications Networks
This book guides readers through the basics of rapidly emerging networks to more advanced concepts and future expectations of Telecommunications Networks. It identifies and examines the most pressing research issues in Telecommunications and it contains chapters written by leading researchers, academics and industry professionals. Telecommunications Networks - Current Status and Future Trends covers surveys of recent publications that investigate key areas of interest such as: IMS, eTOM, 3G/4G, optimization problems, modeling, simulation, quality of service, etc. This book, that is suitable for both PhD and master students, is organized into six sections: New Generation Networks, Quality of Services, Sensor Networks, Telecommunications, Traffic Engineering and Routing
MARS: An Educational Environment for Multiagent Robot Simulations
Undergraduate robotics students often find it difficult to design and validate control algorithms for teams of mobile robots. This is mainly due to two reasons. First, very rarely educational laboratories are equipped with large teams of robots, which are usually expensive, bulky and difficult to manage and maintain. Second, robotics simulators often require student to spend much time to learn their use and functionalities.
For this purpose, a simulator of multi-agent mobile robots named MARS has been developed within the Matlab environment, with the aim of facilitating students to simulate a wide variety of control algorithms in an easy way and without spending time for understanding a new language. Through this facility, the user is able to simulate multi-robot teams performing different tasks, from cooperative to competitive ones, by using both centralized and distributed controllers. Virtual sensors are provided to simulate real devices. A graphical user interface allows students to monitor the robots behaviour through an online animation
A Collective Adaptive Approach to Decentralised k-Coverage in Multi-robot Systems
We focus on the online multi-object k-coverage problem (OMOkC), where mobile robots are required to sense a mobile target from k diverse points of view, coordinating themselves in a scalable and possibly decentralised way. There is active research on OMOkC, particularly in the design of decentralised algorithms for solving it. We propose a new take on the issue: Rather than classically developing new algorithms, we apply a macro-level paradigm, called aggregate computing, specifically designed to directly program the global behaviour of a whole ensemble of devices at once. To understand the potential of the application of aggregate computing to OMOkC, we extend the Alchemist simulator (supporting aggregate computing natively) with a novel toolchain component supporting the simulation of mobile robots. This way, we build a software engineering toolchain comprising language and simulation tooling for addressing OMOkC. Finally, we exercise our approach and related toolchain by introducing new algorithms for OMOkC; we show that they can be expressed concisely, reuse existing software components and perform better than the current state-of-the-art in terms of coverage over time and number of objects covered overall
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
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