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 Comprehensive Survey of the Tactile Internet: State of the art and Research Directions

The Internet has made several giant leaps over the years, from a fixed to a mobile Internet, then to the Internet of Things, and now to a Tactile Internet. The Tactile Internet goes far beyond data, audio and video delivery over fixed and mobile networks, and even beyond allowing communication and collaboration among things. It is expected to enable haptic communication and allow skill set delivery over networks. Some examples of potential applications are tele-surgery, vehicle fleets, augmented reality and industrial process automation. Several papers already cover many of the Tactile Internet-related concepts and technologies, such as haptic codecs, applications, and supporting technologies. However, none of them offers a comprehensive survey of the Tactile Internet, including its architectures and algorithms. Furthermore, none of them provides a systematic and critical review of the existing solutions. To address these lacunae, we provide a comprehensive survey of the architectures and algorithms proposed to date for the Tactile Internet. In addition, we critically review them using a well-defined set of requirements and discuss some of the lessons learned as well as the most promising research directions

Position referenced force augmentation in teleoperated hydraulic manipulators operating under delayed and lossy networks: a pilot study.

Position error between motions of the master and slave end-effectors is inevitable as it originates from hard-to-avoid imperfections in controller design and model uncertainty. Moreover, when a slave manipulator is controlled through a delayed and lossy communication channel, the error between the desired motion originating from the master device and the actual movement of the slave manipulator end-effector is further exacerbated. This paper introduces a force feedback scheme to alleviate this problem by simply guiding the operator to slow down the haptic device motion and, in turn, allows the slave manipulator to follow the desired trajectory closely. Using this scheme, the master haptic device generates a force, which is proportional to the position error at the slave end-effector, and opposite to the operator's intended motion at the master site. Indeed, this force is a signal or cue to the operator for reducing the hand speed when position error, due to delayed and lossy network, appears at the slave site. Effectiveness of the proposed scheme is validated by performing experiments on a hydraulic telemanipulator setup developed for performing live-line maintenance. Experiments are conducted when the system operates under both dedicated and wireless networks. Results show that the scheme performs well in reducing the position error between the haptic device and the slave end-effector. Specifically, by utilizing the proposed force, the mean position error, for the case presented here, reduces by at least 92% as compared to the condition without the proposed force augmentation scheme. The scheme is easy to implement, as the only required on-line measurement is the angular displacement of the slave manipulator joints

Flexible Supervised Autonomy for Exploration in Subterranean Environments

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in real-world underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission and make high-impact strategic decisions. We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and re-configurable communications.Comment: Field Robotics special issue: DARPA Subterranean Challenge, Advancement and Lessons Learned from the Final

Location based services in wireless ad hoc networks

In this dissertation, we investigate location based services in wireless ad hoc networks from four different aspects - i) location privacy in wireless sensor networks (privacy), ii) end-to-end secure communication in randomly deployed wireless sensor networks (security), iii) quality versus latency trade-off in content retrieval under ad hoc node mobility (performance) and iv) location clustering based Sybil attack detection in vehicular ad hoc networks (trust). The first contribution of this dissertation is in addressing location privacy in wireless sensor networks. We propose a non-cooperative sensor localization algorithm showing how an external entity can stealthily invade into the location privacy of sensors in a network. We then design a location privacy preserving tracking algorithm for defending against such adversarial localization attacks. Next we investigate secure end-to-end communication in randomly deployed wireless sensor networks. Here, due to lack of control on sensors\u27 locations post deployment, pre-fixing pairwise keys between sensors is not feasible especially under larger scale random deployments. Towards this premise, we propose differentiated key pre-distribution for secure end-to-end secure communication, and show how it improves existing routing algorithms. Our next contribution is in addressing quality versus latency trade-off in content retrieval under ad hoc node mobility. We propose a two-tiered architecture for efficient content retrieval in such environment. Finally we investigate Sybil attack detection in vehicular ad hoc networks. A Sybil attacker can create and use multiple counterfeit identities risking trust of a vehicular ad hoc network, and then easily escape the location of the attack avoiding detection. We propose a location based clustering of nodes leveraging vehicle platoon dispersion for detection of Sybil attacks in vehicular ad hoc networks --Abstract, page iii

Improving Operator Recognition and Prediction of Emergent Swarm Behaviors

Robot swarms are typically defined as large teams of coordinating robots that interact with each other on a local scale. The control laws that dictate these interactions are often designed to produce emergent global behaviors useful for robot teams, such as aggregating at a single location or moving between locations as a group. These behaviors are called emergent because they arise from the local rules governing each robot as they interact with neighbors and the environment. No single robot is aware of the global behavior yet they all take part in it, which allows for a robustness that is difficult to achieve with explicitly-defined global plans. Now that hardware and algorithms for swarms have progressed enough to allow for their use outside the laboratory, new research is focused on how operators can control them. Recent work has introduced new paradigms for imparting an operator's intent on the swarm, yet little work has focused on how to better visualize the swarm to improve operator prediction and control of swarm states. The goal of this dissertation is to investigate how to present the limited data from a swarm to an operator so as to maximize their understanding of the current behavior and swarm state in general. This dissertation develops--through user studies--new methods of displaying the state of a swarm that improve a user's ability to recognize, predict, and control emergent behaviors. The general conclusion is that how summary information about the swarm is displayed has a significant impact on the ability of users to interact with the swarm, and that future work should focus on the properties unique to swarms when developing visualizations for human-swarm interaction tasks

Avoin alustakehitys IEEE 802.15.4 -standardin mukaisessa langattomassa automaatiossa

This doctoral dissertation focuses on open source platform development in wireless automation under IEEE 802.15.4 standard. Research method is empirical. A platform based approach, which targets to the design of a generic open source sensor platform, was selected as a design method. The design targets were further focused by interviewing the experts from the academia and industry. Generic and modular sensor platform, the UWASA Node, was developed as an outcome of this process. Based on the implementation results, a wireless sensor and actuator network based on the UWASA Node was a feasible solution for many types of wireless automation applications. It was also possible to interface it with the other parts of the system. The targeted level of sensor platform genericity was achieved. However, it was also observed that the achieved level of genericity increased the software complexity. The development of commercial sensor platforms, which support IEEE 802.15.4 sensor networking, has narrowed down the role of open source sensor platforms, but they are not disappearing. Commercial software is usually closed and connected to a specified platform, which makes it unsuitable for research and development work. Even though there exits many commercial WSN solutions and the market expectations in this area are high, there is still a lot of work to do before the visions about Internet of Things (IoT) are fulfilled, especially in the context of distributed and locally centralized operations in the network. In terms of control engineering, one of the main research issues is to figure out how the well-known control techniques may be applied in wireless automation where WSN is part of the automation system. Open source platforms offer an important tool in this research and development work.Tämä väitöskirja käsittelee avointa alustakehitystä IEEE 802.15.4 -standardin mukaisessa langattomassa automaatiossa. Tutkimusmenetelmä on empiirinen. Työssä sovelletaan alustaperustaista suunnittelutapaa, joka tähtää yleiskäyttöisen avoimen anturialustan kehittämiseen. Suunnittelun tavoitteita tarkennettiin haastattelemalla alan asiantuntijoita teollisuudesta ja yliopistomaailmasta. Tuloksena suunniteltiin ja toteutettiin anturialusta, the UWASA Node. Implementointituloksista voidaan vetää johtopäätös, että anturialustan tavoiteltu yleiskäyttöisyystaso saavutettiin. Toisaalta saavutettu yleiskäyttöisyystaso lisäsi alustan ohjelmistoarkkitehtuurin monimutkaisuutta. Kaupallisten IEEE 802.15.4 -standardia tukevien anturialustojen tulo markkinoille vähentää avointen anturialustojen käyttöä, mutta ne eivät ole katoamassa. Kaupalliset ohjelmistot ovat tyypillisesti suljettuja ja sidoksissa tiettyyn alustaan, mikä tekee niistä sopimattomia tutkimus- ja tuotekehityskäyttöön. Vaikka nykyään on saatavilla useita kaupallisia langattomia anturi- ja toimilaiteverkkoja, vaaditaan vielä paljon työtä ennen kun kaikki esineiden Internetiin (Internet of Things) liittyvät visiot voidaan toteuttaa. Tämä koskee erityisesti langattomassa anturi- ja toimilaiteverkossa hajautetusti tai paikallisesti toteutettavia toimintoja. Säätötekniikan näkökulmasta keskeinen kysymys on, miten tunnettuja säätömenetelmiä tulee soveltaa langattomassa automaatiossa, jossa langaton anturi- ja toimilaiteverkko on osa automaatiojärjestelmää. Avoimet anturialustat ovat tärkeä työkalu sen selvittämisessä.fi=vertaisarvioitu|en=peerReviewed

Adaptive Communication for Mobile Multi-Robot Systems

Mobile multi-robot systems can be immensely powerful, serving as force multipliers for human operators in search-and-rescue operations, urban reconnaissance missions, and more. Key to fulfilling this potential is robust communication, which allows robots to share sensor data or inform others of their intentions. However, wireless communication is often unreliable for mobile multi-robot systems, exhibiting losses, delays, and outages as robots move through their environment. Furthermore, the wireless communication spectrum is a shared resource, and multi-robot systems must determine how to use its limited bandwidth in accomplishing their missions. This dissertation addresses the challenges of inter-robot communication in two thrusts. In the first thrust, we improve the reliability of such communication through the application of a technique we call Adaptive Erasure Coding (AEC). Erasure codes enable recovery from packet loss through the use of redundancy. Conditions in a mobile robotic network are continually changing, so AEC varies the amount of redundancy applied to achieve a probabilistic delivery guarantee. In the second thrust, we describe a mechanism by which robots can make communication decisions by considering the expected effect of a proposed communication action on team performance. We call this algorithm Optimizing Communication under Bandwidth Constraints (OCBC). Given a finite amount of available bandwidth, OCBC optimizes the contents of a message to respect the bandwidth constraint.PHDComputer Science & EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttps://deepblue.lib.umich.edu/bitstream/2027.42/149815/1/ryanjmar_1.pd