2,784 research outputs found
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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Indoor And Outdoor Real Time Information Collection in Disaster Scenario
A disaster usually severely harms human health and property. After a disaster, great amount of information of a disaster area is needed urgently. The information not only indicates the severity of the disaster, but also is crucial for an efficient search and rescue process. In order to quickly and accurately collect real time information in a disaster scenario, a mobile platform is developed for an outdoor scenario and a localization and navigation system for responders is introduced for an indoor scenario.
The mobile platform has been integrated to the DIORAMA system. It is built with a 6-wheel robot chassis along with an Arduino microcontroller. Controlled by a mounted Android smartphone, the mobile platform can receive commands from incident commanders and quickly respond to the commands. While patrolling in a disaster area, a constant RFID signal is collected to improve the localization accuracy of victims. Pictures and videos are also captured in order to enhance the situational awareness of rescuers.
The design of the indoor information collection is focused on the responder side. During a disaster scenario, it is hard to track respondersâ locations in an indoor environment. In this thesis, an indoor localization and navigation system based on Bluetooth low energy and Android is developed for helping responders report current location and quickly find the right path in the environment. Different localization algorithms are investigated and implemented. A navigation system based on AÂ* is also proposed
Tahap penguasaan, sikap dan minat pelajar Kolej Kemahiran Tinggi MARA terhadap mata pelajaran Bahasa Inggeris
Kajian ini dilakukan untuk mengenal pasti tahap penguasaan, sikap dan minat pelajar
Kolej Kemahiran Tinggi Mara Sri Gading terhadap Bahasa Inggeris. Kajian yang
dijalankan ini berbentuk deskriptif atau lebih dikenali sebagai kaedah tinjauan. Seramai
325 orang pelajar Diploma in Construction Technology dari Kolej Kemahiran Tinggi
Mara di daerah Batu Pahat telah dipilih sebagai sampel dalam kajian ini. Data yang
diperoleh melalui instrument soal selidik telah dianalisis untuk mendapatkan
pengukuran min, sisihan piawai, dan Pekali Korelasi Pearson untuk melihat hubungan
hasil dapatan data. Manakala, frekuensi dan peratusan digunakan bagi mengukur
penguasaan pelajar. Hasil dapatan kajian menunjukkan bahawa tahap penguasaan
Bahasa Inggeris pelajar adalah berada pada tahap sederhana manakala faktor utama yang
mempengaruhi penguasaan Bahasa Inggeris tersebut adalah minat diikuti oleh sikap.
Hasil dapatan menggunakan pekali Korelasi Pearson juga menunjukkan bahawa terdapat
hubungan yang signifikan antara sikap dengan penguasaan Bahasa Inggeris dan antara
minat dengan penguasaan Bahasa Inggeris. Kajian menunjukkan bahawa semakin positif
sikap dan minat pelajar terhadap pengajaran dan pembelajaran Bahasa Inggeris semakin
tinggi pencapaian mereka. Hasil daripada kajian ini diharapkan dapat membantu pelajar
dalam meningkatkan penguasaan Bahasa Inggeris dengan memupuk sikap positif dalam
diri serta meningkatkan minat mereka terhadap Bahasa Inggeris dengan lebih baik. Oleh
itu, diharap kajian ini dapat memberi panduan kepada pihak-pihak yang terlibat dalam
membuat kajian yang akan datang
FollowMe: a Robust Person Following Framework Based on Re-Identification and Gestures
Human-robot interaction (HRI) has become a crucial enabler in houses and
industries for facilitating operational flexibility. When it comes to mobile
collaborative robots, this flexibility can be further increased due to the
autonomous mobility and navigation capacity of the robotic agents, expanding
their workspace and consequently, the personalizable assistance they can
provide to the human operators. This however requires that the robot is capable
of detecting and identifying the human counterpart in all stages of the
collaborative task, and in particular while following a human in crowded
workplaces. To respond to this need, we developed a unified perception and
navigation framework, which enables the robot to identify and follow a target
person using a combination of visual Re-Identification (Re-ID), hand gestures
detection, and collision-free navigation. The Re-ID module can autonomously
learn the features of a target person and use the acquired knowledge to
visually re-identify the target. The navigation stack is used to follow the
target avoiding obstacles and other individuals in the environment. Experiments
are conducted with few subjects in a laboratory setting where some unknown
dynamic obstacles are introduced.Comment: published in "2023 IEEE International Conference on Advanced Robotics
and Its Social Impacts (ARSO)
Wearable sensors for humanârobot walking together
Thanks to recent technological improvements that enable novel applications beyond the industrial context, there is growing interest in the use of robots in everyday life situations. To improve the acceptability of personal service robots, they should seamlessly interact with the users, understand their social signals and cues and respond appropriately. In this context, a few proposals were presented to make robots and humans navigate together naturally without explicit user control, but no final solution has been achieved yet. To make an advance toward this end, this paper proposes the use of wearable Inertial Measurement Units to improve the interaction between human and robot while walking together without physical links and with no restriction on the relative position between the human and the robot. We built a prototype system, experimented with 19 human participants in two different tasks, to provide real-time evaluation of gait parameters for a mobile robot moving together with a human, and studied the feasibility and the perceived usability by the participants. The results show the feasibility of the system, which obtained positive feedback from the users, giving valuable information for the development of a natural interaction system where the robot perceives human movements by means of wearable sensors
Identification and distance estimation of users and objects by means of electronic beacons in social robotics
Social robots are intended to coexist and to communicate with humans in a natural way. This requires these robots to be able to identify people (and objects) around them to use that information during human-robot dialogs. In this work we present how electronic beacons can benefit the interactions between humans and social robots. In particular, Bluetooth 4.0 Low Energy beacons are presented as the most suitable option, among the up-to-date available technologies. In order to show the advantages of the system during human-robot interaction, first, we present the integration of the information provided by these devices in the robotâs dialog system; and after, a hidden toy hunt game is described as a case study of a scenario where electronic beacons ease the interaction between humans and a social robot.The research leading to these results has received funding from the projects: Development of social robots to help seniors with cognitive impairment (ROBSEN), funded by the Ministerio de Economia y Competitividad (DPI2014-57684-R); and RoboCity2030-III-CM, funded by Comunidad de Madrid and cofunded by Structural Funds of the EU (S2013/MIT-2748)
Receding Horizon Control of Multiagent Systems with Competitive Dynamics
We consider the problem of controlling two agents with competitive objectives. Agents are modelled as linear discrete time systems, and collect each otherâs state information without delays. The competitive problem is formulated in a classical receding horizon framework, where each agentâs controllers are computed by minimizing a linear, quadratic cost function which depends on both agentsâ states. The two agents specify their state tracking objective in a coordinated or competitive manner. We do not consider state constraints. The simplicity of our framework allows us to provide the following results analytically: 1) When agents compete, their states converge to an equilibrium trajectory where the steady state tracking error is finite. 2) Limit-cycles cannot occur. Numerical simulations and experiments done with a LEGO mindstorm multiagent platform match our analytical result
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