Adoption of vehicular ad hoc networking protocols by networked robots

This paper focuses on the utilization of wireless networking in the robotics domain. Many researchers have already equipped their robots with wireless communication capabilities, stimulated by the observation that multi-robot systems tend to have several advantages over their single-robot counterparts. Typically, this integration of wireless communication is tackled in a quite pragmatic manner, only a few authors presented novel Robotic Ad Hoc Network (RANET) protocols that were designed specifically with robotic use cases in mind. This is in sharp contrast with the domain of vehicular ad hoc networks (VANET). This observation is the starting point of this paper. If the results of previous efforts focusing on VANET protocols could be reused in the RANET domain, this could lead to rapid progress in the field of networked robots. To investigate this possibility, this paper provides a thorough overview of the related work in the domain of robotic and vehicular ad hoc networks. Based on this information, an exhaustive list of requirements is defined for both types. It is concluded that the most significant difference lies in the fact that VANET protocols are oriented towards low throughput messaging, while RANET protocols have to support high throughput media streaming as well. Although not always with equal importance, all other defined requirements are valid for both protocols. This leads to the conclusion that cross-fertilization between them is an appealing approach for future RANET research. To support such developments, this paper concludes with the definition of an appropriate working plan

A novel equivalent definition of modified Bessel functions for performance analysis of multi-hop wireless communication systems

A statistical model is derived for the equivalent signal-to-noise ratio of the Source-to-Relay-to-Destination (S-R-D) link for Amplify-and-Forward (AF) relaying systems that are subject to block Rayleigh-fading. The probability density function and the cumulated density function of the S-R-D link SNR involve modified Bessel functions of the second kind. Using fractional-calculus mathematics, a novel approach is introduced to rewrite those Bessel functions (and the statistical model of the S-R-D link SNR) in series form using simple elementary functions. Moreover, a statistical characterization of the total receive-SNR at the destination, corresponding to the S-R-D and the S-D link SNR, is provided for a more general relaying scenario in which the destination receives signals from both the relay and the source and processes them using maximum ratio combining (MRC). Using the novel statistical model for the total receive SNR at the destination, accurate and simple analytical expressions for the outage probability, the bit error probability, and the ergodic capacity are obtained. The analytical results presented in this paper provide a theoretical framework to analyze the performance of the AF cooperative systems with an MRC receiver

On the Experimental Evaluation of Vehicular Networks: Issues, Requirements and Methodology Applied to a Real Use Case

One of the most challenging fields in vehicular communications has been the experimental assessment of protocols and novel technologies. Researchers usually tend to simulate vehicular scenarios and/or partially validate new contributions in the area by using constrained testbeds and carrying out minor tests. In this line, the present work reviews the issues that pioneers in the area of vehicular communications and, in general, in telematics, have to deal with if they want to perform a good evaluation campaign by real testing. The key needs for a good experimental evaluation is the use of proper software tools for gathering testing data, post-processing and generating relevant figures of merit and, finally, properly showing the most important results. For this reason, a key contribution of this paper is the presentation of an evaluation environment called AnaVANET, which covers the previous needs. By using this tool and presenting a reference case of study, a generic testing methodology is described and applied. This way, the usage of the IPv6 protocol over a vehicle-to-vehicle routing protocol, and supporting IETF-based network mobility, is tested at the same time the main features of the AnaVANET system are presented. This work contributes in laying the foundations for a proper experimental evaluation of vehicular networks and will be useful for many researchers in the area.Comment: in EAI Endorsed Transactions on Industrial Networks and Intelligent Systems, 201