Low-Cost UAV Swarm for Real-Time Object Detection Applications

With unmanned aerial vehicles (UAVs), also known as drones, becoming readily available and affordable, applications for these devices have grown immensely. One type of application is the use of drones to fly over large areas and detect desired entities. For example, a swarm of drones could detect marine creatures near the surface of the ocean and provide users the location and type of animal found. However, even with the reduction in cost of drone technology, such applications result costly due to the use of custom hardware with built-in advanced capabilities. Therefore, the focus of this thesis is to compile an easily customizable, low-cost drone design with the necessary hardware for autonomous behavior, swarm coordination, and on-board object detection capabilities. Additionally, this thesis outlines the necessary network architecture to handle the interconnection and bandwidth requirements of the drone swarm. The drone on-board system uses a PixHawk 4 flight controller to handle flight mechanics, a Raspberry Pi 4 as a companion computer for general-purpose computing power, and a NVIDIA Jetson Nano Developer Kit to perform object detection in real-time. The implemented network follows the 802.11s standard for multi-hop communications with the HWMP routing protocol. This topology allows drones to forward packets through the network, significantly extending the flight range of the swarm. Our experiments show that the selected hardware and implemented network can provide direct point-to-point communications at a range of up to 1000 feet, with extended range possible through message forwarding. The network also provides sufficient bandwidth for bandwidth intensive data such as live video streams. With an expected flight time of about 17 minutes, the proposed design offers a low-cost drone swarm solution for mid-range aerial surveillance applications

Airborne Directional Networking: Topology Control Protocol Design

This research identifies and evaluates the impact of several architectural design choices in relation to airborne networking in contested environments related to autonomous topology control. Using simulation, we evaluate topology reconfiguration effectiveness using classical performance metrics for different point-to-point communication architectures. Our attention is focused on the design choices which have the greatest impact on reliability, scalability, and performance. In this work, we discuss the impact of several practical considerations of airborne networking in contested environments related to autonomous topology control modeling. Using simulation, we derive multiple classical performance metrics to evaluate topology reconfiguration effectiveness for different point-to-point communication architecture attributes for the purpose of qualifying protocol design elements

Channel Allocation in An Overlaid Mesh Network

In spite of recent advancement of Wireless Mesh Technology, a lot of research challenges remained to be solved to extract the full capacity of this modern technology. As 802.11a/b/g standards make available the use of multi radio multi channel in a wireless node, a lot of research activities are going on to efficiently allocate the channel of a Mesh Network to boost its overall performances. In this research, the prospect of dividing the total network area into two non-overlapping channels of a given Mesh Network is investigated and analyzed numerically. It is found that the throughput is doubled as well as the fairness improves considerably if we deploy two channels instead of single channel backbone. An extensive simulation study has been carried out to find the optimum coverage area between two channels. The study shows that at a particular point of allocation, the network gives the optimum response.fi=Opinnäytetyö kokotekstinä PDF-muodossa.|en=Thesis fulltext in PDF format.|sv=Lärdomsprov tillgängligt som fulltext i PDF-format

Towards scalable Community Networks topologies

Community Networks (CNs) are grassroots bottom-up initiatives that build local infrastructures, normally using Wi-Fi technology, to bring broadband networking in areas with inadequate offer of traditional infrastructures such as ADSL, FTTx or wide-band cellular (LTE, 5G). Albeit they normally operate as access networks to the Internet, CNs are ad-hoc networks that evolve based on local requirements and constraints, often including additional local services on top of Internet access. These networks grow in highly decentralized manner that radically deviates from the top-down network planning practiced in commercial mobile networks, depending, on the one hand, on the willingness of people to participate, and, on the other hand, on the feasibility of wireless links connecting the houses of potential participants with each other. In this paper, we present a novel methodology and its implementation into an automated tool, which enables the exercise of (light) centralized control to the dynamic and otherwise spontaneous CN growth process. The goal of the methodology is influencing the choices to connect a new node to the CN so that it can grow with more balance and to a larger size. Input to our methodology are open source resources about the physical terrain of the CN deployment area, such as Open Street Map and very detailed (less than 1 m resolution) LIDAR-based data about buildings layout and height, as well as technical descriptions and pricing data about off-the-shelf networking devices that are made available by manufacturers. Data related to demographics can be easily added to refine the environment description. With these data at hand, the tool can estimate the technical and economic feasibility of adding new nodes to the CN and actively assist new CN users in selecting proper equipment and CN node(s) to connect with to improve the CN scalability. We test our methodology in four different areas representing standard territorial characterization categories: urban, suburban, intermediate, and rural. In all four cases our tool shows that CNs scale to much larger size using the assisted, network-aware methodology when compared with de facto practices. Results also show that the CNs deployed with the assisted methodology are more balanced and have a lower per-node cost for the same per-node guaranteed bandwidth. Moreover, this is achieved with fewer devices per node, which means that the network is cheaper to build and easier to maintain.Peer ReviewedPostprint (author's final draft

Achieving Small World Properties using Bio-Inspired Techniques in Wireless Networks

It is highly desirable and challenging for a wireless ad hoc network to have self-organization properties in order to achieve network wide characteristics. Studies have shown that Small World properties, primarily low average path length and high clustering coefficient, are desired properties for networks in general. However, due to the spatial nature of the wireless networks, achieving small world properties remains highly challenging. Studies also show that, wireless ad hoc networks with small world properties show a degree distribution that lies between geometric and power law. In this paper, we show that in a wireless ad hoc network with non-uniform node density with only local information, we can significantly reduce the average path length and retain the clustering coefficient. To achieve our goal, our algorithm first identifies logical regions using Lateral Inhibition technique, then identifies the nodes that beamform and finally the beam properties using Flocking. We use Lateral Inhibition and Flocking because they enable us to use local state information as opposed to other techniques. We support our work with simulation results and analysis, which show that a reduction of up to 40% can be achieved for a high-density network. We also show the effect of hopcount used to create regions on average path length, clustering coefficient and connectivity.Comment: Accepted for publication: Special Issue on Security and Performance of Networks and Clouds (The Computer Journal

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