3,052 research outputs found
Gathering in Dynamic Rings
The gathering problem requires a set of mobile agents, arbitrarily positioned
at different nodes of a network to group within finite time at the same
location, not fixed in advanced.
The extensive existing literature on this problem shares the same fundamental
assumption: the topological structure does not change during the rendezvous or
the gathering; this is true also for those investigations that consider faulty
nodes. In other words, they only consider static graphs. In this paper we start
the investigation of gathering in dynamic graphs, that is networks where the
topology changes continuously and at unpredictable locations.
We study the feasibility of gathering mobile agents, identical and without
explicit communication capabilities, in a dynamic ring of anonymous nodes; the
class of dynamics we consider is the classic 1-interval-connectivity.
We focus on the impact that factors such as chirality (i.e., a common sense
of orientation) and cross detection (i.e., the ability to detect, when
traversing an edge, whether some agent is traversing it in the other
direction), have on the solvability of the problem. We provide a complete
characterization of the classes of initial configurations from which the
gathering problem is solvable in presence and in absence of cross detection and
of chirality. The feasibility results of the characterization are all
constructive: we provide distributed algorithms that allow the agents to
gather. In particular, the protocols for gathering with cross detection are
time optimal. We also show that cross detection is a powerful computational
element.
We prove that, without chirality, knowledge of the ring size is strictly more
powerful than knowledge of the number of agents; on the other hand, with
chirality, knowledge of n can be substituted by knowledge of k, yielding the
same classes of feasible initial configurations
Bootstrapping Cognitive Radio Networks
Cognitive radio networks promise more efficient spectrum utilization by leveraging degrees of freedom and distributing data collection. The actual realization of these promises is challenged by distributed control, and incomplete, uncertain and possibly conflicting knowledge bases. We consider two problems in bootstrapping, evolving, and managing cognitive radio networks. The first is Link Rendezvous, or how separate radio nodes initially find each other in a spectrum band with many degrees of freedom, and little shared knowledge. The second is how radio nodes can negotiate for spectrum access with incomplete information. To address the first problem, we present our Frequency Parallel Blind Link Rendezvous algorithm. This approach, designed for recent generations of digital front-ends, implicitly shares vague information about spectrum occupancy early in the process, speeding the progress towards a solution. Furthermore, it operates in the frequency domain, facilitating a parallel channel rendezvous. Finally, it operates without a control channel and can rendezvous anywhere in the operating band. We present simulations and analysis on the false alarm rate for both a feature detector and a cross-correlation detector. We compare our results to the conventional frequency hopping sequence rendezvous techniques. To address the second problem, we model the network as a multi-agent system and negotiate by exchanging proposals, augmented with arguments. These arguments include information about priority status and the existence of other nodes. We show in a variety of network topologies that this process leads to solutions not otherwise apparent to individual nodes, and achieves superior network throughput, request satisfaction, and total number of connections, compared to our baselines. The agents independently formulate proposals based upon communication desires, evaluate these proposals based upon capacity constraints, create ariii guments in response to proposal rejections, and re-evaluate proposals based upon received arguments. We present our negotiation rules, messages, and protocol and demonstrate how they interoperate in a simulation environment
Self-Calibration Methods for Uncontrolled Environments in Sensor Networks: A Reference Survey
Growing progress in sensor technology has constantly expanded the number and
range of low-cost, small, and portable sensors on the market, increasing the
number and type of physical phenomena that can be measured with wirelessly
connected sensors. Large-scale deployments of wireless sensor networks (WSN)
involving hundreds or thousands of devices and limited budgets often constrain
the choice of sensing hardware, which generally has reduced accuracy,
precision, and reliability. Therefore, it is challenging to achieve good data
quality and maintain error-free measurements during the whole system lifetime.
Self-calibration or recalibration in ad hoc sensor networks to preserve data
quality is essential, yet challenging, for several reasons, such as the
existence of random noise and the absence of suitable general models.
Calibration performed in the field, without accurate and controlled
instrumentation, is said to be in an uncontrolled environment. This paper
provides current and fundamental self-calibration approaches and models for
wireless sensor networks in uncontrolled environments
Rendezvous of Two Robots with Constant Memory
We study the impact that persistent memory has on the classical rendezvous
problem of two mobile computational entities, called robots, in the plane. It
is well known that, without additional assumptions, rendezvous is impossible if
the entities are oblivious (i.e., have no persistent memory) even if the system
is semi-synchronous (SSynch). It has been recently shown that rendezvous is
possible even if the system is asynchronous (ASynch) if each robot is endowed
with O(1) bits of persistent memory, can transmit O(1) bits in each cycle, and
can remember (i.e., can persistently store) the last received transmission.
This setting is overly powerful.
In this paper we weaken that setting in two different ways: (1) by
maintaining the O(1) bits of persistent memory but removing the communication
capabilities; and (2) by maintaining the O(1) transmission capability and the
ability to remember the last received transmission, but removing the ability of
an agent to remember its previous activities. We call the former setting
finite-state (FState) and the latter finite-communication (FComm). Note that,
even though its use is very different, in both settings, the amount of
persistent memory of a robot is constant.
We investigate the rendezvous problem in these two weaker settings. We model
both settings as a system of robots endowed with visible lights: in FState, a
robot can only see its own light, while in FComm a robot can only see the other
robot's light. We prove, among other things, that finite-state robots can
rendezvous in SSynch, and that finite-communication robots are able to
rendezvous even in ASynch. All proofs are constructive: in each setting, we
present a protocol that allows the two robots to rendezvous in finite time.Comment: 18 pages, 3 figure
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
Algorithms for multi-robot systems on the cooperative exploration & last-mile delivery problems
La aparición de los vehículos aéreos no tripulados (UAVs) y de los vehículos terrestres no tripulados (UGVs) ha llevado a la comunidad científica a enfrentarse a problemas ideando paradigmas de cooperación con UGVs y UAVs. Sin embargo, no suele ser trivial determinar si la cooperación entre UGVs y UAVs es adecuada para un determinado problema. Por esta razón, en esta tesis, investigamos un paradigma particular de cooperación UGV-UAV en dos problemas de la literatura, y proponemos un controlador autónomo para probarlo en escenarios simulados.
Primero, formulamos un problema particular de exploración cooperativa que consiste en alcanzar un conjunto de puntos de destino en un área de exploración a gran escala. Este problema define al UGV como una estación de carga móvil para transportar el UAV a través de diferentes lugares desde donde el UAV puede alcanzar los puntos de destino. Por consiguiente, proponemos el algoritmo TERRA para resolverlo. Este algoritmo se destaca por dividir el problema de exploración en cinco subproblemas, en los que cada subproblema se resuelve en una etapa particular del algoritmo.
Debido a la explosión de la entrega de paquetes en las empresas de comercio electrónico, formulamos también una generalización del conocido problema de la entrega en la última milla. En este caso, el UGV actúa como una estación de carga móvil que transporta a los paquetes y a los UAVs, y estos se encargan de entregarlos. De esta manera, seguimos la estrategia de división descrita por TERRA, y proponemos el algoritmo COURIER. Este algoritmo replica las cuatro primeras etapas de TERRA, pero construye una nueva quinta etapa para producir un plan de tareas que resuelva el problema. Para evaluar el paradigma de cooperación UGV-UAV en escenarios simulados, proponemos el controlador autónomo ARIES. Este controlador sigue un enfoque jerárquico descentralizado de líder-seguidor para integrar cualquier paradigma de cooperación de manera distribuida.
Ambos algoritmos han sido caracterizados para identificar los aspectos relevantes del paradigma de cooperación en los problemas relacionados. Además, ambos demuestran un gran rendimiento del paradigma de cooperación en tales problemas, y al igual que el controlador autónomo, revelan un gran potencial para futuras aplicaciones reales.The emergence of Unmanned Aerial Vehicles (UAVs) and Unmanned
Ground Vehicles (UGVs) has conducted the research community to
face historical complex problems by devising UGV-UAV cooperation
paradigms. However, it is usually not a trivial task to determine
whether or not a UGV-UAV cooperation is suitable for a particular
problem. For this reason, in this thesis, we investigate a particular
UGV-UAV cooperation paradigm over two problems in the literature,
and we propose an autonomous controller to test it on simulated
scenarios.
Driven by the planetary exploration, we formulate a particular cooperative
exploration problem consisting of reaching a set of target
points in a large-scale exploration area. This problem defines the UGV
as a moving charging station to carry the UAV through different locations
from where the UAV can reach the target points. Consequently,
we propose the cooperaTive ExploRation Routing Algorithm (TERRA)
to solve it. This algorithm stands out for splitting up the exploration
problem into five sub-problems, in which each sub-problem is solved
in a particular stage of the algorithm. In the same way, driven by the
explosion of parcels delivery in e-commerce companies, we formulate
a generalization of the well-known last-mile delivery problem. This
generalization defines the same UGV’s and UAV’s rol as the exploration
problem. That is, the UGV acts as a moving charging station
which carries the parcels along several UAVs to deliver them. In this
way, we follow the split strategy depicted by TERRA to propose the
COoperative Unmanned deliveRIEs planning algoRithm (COURIER).
This algorithm replicates the first four TERRA’s stages, but it builds a
new fifth stage to produce a task plan solving the problem. In order to
evaluate the UGV-UAV cooperation paradigm on simulated scenarios,
we propose the Autonomous coopeRatIve Execution System (ARIES).
This controller follows a hierarchical decentralized leader-follower approach
to integrate any cooperation paradigm in a distributed manner.
Both algorithms have been characterized to identify the relevant
aspects of the cooperation paradigm in the related problems. Also,
both of them demonstrate a great performance of the cooperation
paradigm in such problems, and as well as the autonomous controller,
reveal a great potential for future real applications
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