1,912 research outputs found
Safe, Remote-Access Swarm Robotics Research on the Robotarium
This paper describes the development of the Robotarium -- a remotely
accessible, multi-robot research facility. The impetus behind the Robotarium is
that multi-robot testbeds constitute an integral and essential part of the
multi-agent research cycle, yet they are expensive, complex, and time-consuming
to develop, operate, and maintain. These resource constraints, in turn, limit
access for large groups of researchers and students, which is what the
Robotarium is remedying by providing users with remote access to a
state-of-the-art multi-robot test facility. This paper details the design and
operation of the Robotarium as well as connects these to the particular
considerations one must take when making complex hardware remotely accessible.
In particular, safety must be built in already at the design phase without
overly constraining which coordinated control programs the users can upload and
execute, which calls for minimally invasive safety routines with provable
performance guarantees.Comment: 13 pages, 7 figures, 3 code samples, 72 reference
Low Power, Low Delay: Opportunistic Routing meets Duty Cycling
Traditionally, routing in wireless sensor networks consists of
two steps: First, the routing protocol selects a next hop,
and, second, the MAC protocol waits for the intended destination
to wake up and receive the data. This design makes
it difficult to adapt to link dynamics and introduces delays
while waiting for the next hop to wake up.
In this paper we introduce ORW, a practical opportunistic
routing scheme for wireless sensor networks. In a dutycycled
setting, packets are addressed to sets of potential receivers
and forwarded by the neighbor that wakes up first
and successfully receives the packet. This reduces delay and
energy consumption by utilizing all neighbors as potential
forwarders. Furthermore, this increases resilience to wireless
link dynamics by exploiting spatial diversity. Our results
show that ORW reduces radio duty-cycles on average
by 50% (up to 90% on individual nodes) and delays by 30%
to 90% when compared to the state of the art
Sensornet checkpointing: enabling repeatability in testbeds and realism in simulations
When developing sensor network applications, the shift from
simulation to testbed causes application failures, resulting in additional
time-consuming iterations between simulation and testbed. We propose
transferring sensor network checkpoints between simulation and testbed
to reduce the gap between simulation and testbed. Sensornet checkpointing
combines the best of both simulation and testbeds: the nonintrusiveness
and repeatability of simulation, and the realism of testbeds
PhyNetLab: An IoT-Based Warehouse Testbed
Future warehouses will be made of modular embedded entities with
communication ability and energy aware operation attached to the traditional
materials handling and warehousing objects. This advancement is mainly to
fulfill the flexibility and scalability needs of the emerging warehouses.
However, it leads to a new layer of complexity during development and
evaluation of such systems due to the multidisciplinarity in logistics,
embedded systems, and wireless communications. Although each discipline
provides theoretical approaches and simulations for these tasks, many issues
are often discovered in a real deployment of the full system. In this paper we
introduce PhyNetLab as a real scale warehouse testbed made of cyber physical
objects (PhyNodes) developed for this type of application. The presented
platform provides a possibility to check the industrial requirement of an
IoT-based warehouse in addition to the typical wireless sensor networks tests.
We describe the hardware and software components of the nodes in addition to
the overall structure of the testbed. Finally, we will demonstrate the
advantages of the testbed by evaluating the performance of the ETSI compliant
radio channel access procedure for an IoT warehouse
Genetic Algorithm-based Mapper to Support Multiple Concurrent Users on Wireless Testbeds
Communication and networking research introduces new protocols and standards
with an increasing number of researchers relying on real experiments rather
than simulations to evaluate the performance of their new protocols. A number
of testbeds are currently available for this purpose and a growing number of
users are requesting access to those testbeds. This motivates the need for
better utilization of the testbeds by allowing concurrent experimentations. In
this work, we introduce a novel mapping algorithm that aims to maximize
wireless testbed utilization using frequency slicing of the spectrum resources.
The mapper employs genetic algorithm to find the best combination of requests
that can be served concurrently, after getting all possible mappings of each
request via an induced sub-graph isomorphism stage. The proposed mapper is
tested on grid testbeds and randomly generated topologies. The solution of our
mapper is compared to the optimal one, obtained through a brute-force search,
and was able to serve the same number of requests in 82.96% of testing
scenarios. Furthermore, we show the effect of the careful design of testbed
topology on enhancing the testbed utilization by applying our mapper on a
carefully positioned 8-nodes testbed. In addition, our proposed approach for
testbed slicing and requests mapping has shown an improved performance in terms
of total served requests, about five folds, compared to the simple allocation
policy with no slicing.Comment: IEEE Wireless Communications and Networking Conference (WCNC) 201
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