Meeting the challenges of decentralized embedded applications using multi-agent systems

International audienceToday embedded applications become large scale andstrongly constrained. They require a decentralized embedded intelligencegenerating challenges for embedded systems. A multi-agent approach iswell suited to model and design decentralized embedded applications.It is naturally able to take up some of these challenges. But somespecific points have to be introduced, enforced or improved in multiagentapproaches to reach all features and all requirements. In thisarticle, we present a study of specific activities that can complementmulti-agent paradigm in the ”embedded” context.We use our experiencewith the DIAMOND method to introduce and illustrate these featuresand activities

Collaborative autonomy in heterogeneous multi-robot systems

As autonomous mobile robots become increasingly connected and widely deployed in different domains, managing multiple robots and their interaction is key to the future of ubiquitous autonomous systems. Indeed, robots are not individual entities anymore. Instead, many robots today are deployed as part of larger fleets or in teams. The benefits of multirobot collaboration, specially in heterogeneous groups, are multiple. Significantly higher degrees of situational awareness and understanding of their environment can be achieved when robots with different operational capabilities are deployed together. Examples of this include the Perseverance rover and the Ingenuity helicopter that NASA has deployed in Mars, or the highly heterogeneous robot teams that explored caves and other complex environments during the last DARPA Sub-T competition. This thesis delves into the wide topic of collaborative autonomy in multi-robot systems, encompassing some of the key elements required for achieving robust collaboration: solving collaborative decision-making problems; securing their operation, management and interaction; providing means for autonomous coordination in space and accurate global or relative state estimation; and achieving collaborative situational awareness through distributed perception and cooperative planning. The thesis covers novel formation control algorithms, and new ways to achieve accurate absolute or relative localization within multi-robot systems. It also explores the potential of distributed ledger technologies as an underlying framework to achieve collaborative decision-making in distributed robotic systems. Throughout the thesis, I introduce novel approaches to utilizing cryptographic elements and blockchain technology for securing the operation of autonomous robots, showing that sensor data and mission instructions can be validated in an end-to-end manner. I then shift the focus to localization and coordination, studying ultra-wideband (UWB) radios and their potential. I show how UWB-based ranging and localization can enable aerial robots to operate in GNSS-denied environments, with a study of the constraints and limitations. I also study the potential of UWB-based relative localization between aerial and ground robots for more accurate positioning in areas where GNSS signals degrade. In terms of coordination, I introduce two new algorithms for formation control that require zero to minimal communication, if enough degree of awareness of neighbor robots is available. These algorithms are validated in simulation and real-world experiments. The thesis concludes with the integration of a new approach to cooperative path planning algorithms and UWB-based relative localization for dense scene reconstruction using lidar and vision sensors in ground and aerial robots

Advanced Radio Frequency Identification Design and Applications

Radio Frequency Identification (RFID) is a modern wireless data transmission and reception technique for applications including automatic identification, asset tracking and security surveillance. This book focuses on the advances in RFID tag antenna and ASIC design, novel chipless RFID tag design, security protocol enhancements along with some novel applications of RFID

Short-Range Super-Resolution Feature Extraction of Complex Edged Contours for Object Recognition by Ultra-Wideband Radar

This thesis contributes to the field of short-range ultra-wideband (UWB) Radar. In particular, an object recognition approach performed by a bi-static UWB Radar has been investigated in this thesis. The investigated objects consist of simple canonical and some polygonal complex objects which are scanned on a circular track at about 1 m distance. Geometrical features, texture features and moment based features are extracted from the Radar data to carry out the recognition. Yet, the precise temporal evolution is subject to massive distortions, mainly caused by severe interference conditions and transient effects of the hardware. Thus, super-resolution algorithms have been developed which go far beyond the classical bandwidth given resolution and asked for research on various fields: (i) An innovative wavefront extraction algorithm with polarimetric diversity exploitation has been developed to separate pulses which overlap almost the whole pulse duration; (ii) a highly precise feature extraction algorithm has been developed which localises significant scattering centres by processing the previously extracted wavefronts; (iii) a novel UWB object recognition algorithm has been developed to classify and discriminate the resulting microwave images. When scanning objects from all sides, exceptional recognition of objects was achieved by a minimum mean squared error classifier. Further improvement in recognition was obtained, especially at severly restricted tracks, by the application of Bayes theory which constitutes a superior classifier to the above. In addition to the main field of research, a novel stereoscopic 3D UWB imaging algorithm, based on a spatially spanned synthetic aperture in conjunction with ellipsoidal shaped wavefronts, has been developed. The ultimate test of any model and system is an experimental validation. Consequently in this thesis, all developed algorithms and the object recognition as a whole system are experimentally validated within an elaborate measurement campaign

Design a CPW antenna on rubber substrate for multiband applications

This paper presents a compact CPW monopole antenna on rubber substrate for multiband applications. The multi band applications (2.45 and 3.65 GHz) is achieved on this antenna design with better antenna performances. Specially this antenna focused on ISM band application meanwhile some of slots (S1, S2, S3) have been used and attained another frequency band at 3.65 GHz for WiMAX application. The achievement of the antenna outcomes from this design that the bandwidth of 520 MHz for first band, the second band was 76 MHz for WiMAX application and the radiation efficiency attained around 90%. Moreover, the realized gain was at 4.27 dBi which overcome the most of existing design on that field. CST microwave studio has been used for antenna simulation

Microwave Devices for Wearable Sensors and IoT

The Internet of Things (IoT) paradigm is currently highly demanded in multiple scenarios and in particular plays an important role in solving medical-related challenges. RF and microwave technologies, coupled with wireless energy transfer, are interesting candidates because of their inherent contactless spectrometric capabilities and for the wireless transmission of sensing data. This article reviews some recent achievements in the field of wearable sensors, highlighting the benefits that these solutions introduce in operative contexts, such as indoor localization and microwave sensing. Wireless power transfer is an essential requirement to be fulfilled to allow these sensors to be not only wearable but also compact and lightweight while avoiding bulky batteries. Flexible materials and 3D printing polymers, as well as daily garments, are widely exploited within the presented solutions, allowing comfort and wearability without renouncing the robustness and reliability of the built-in wearable sensor

Electrical and Computer Engineering Research Report 2009

Department Research Publications Enterprisehttps://digitalcommons.mtu.edu/ece-annualreports/1004/thumbnail.jp

Recent Advances in Indoor Localization Systems and Technologies

Despite the enormous technical progress seen in the past few years, the maturity of indoor localization technologies has not yet reached the level of GNSS solutions. The 23 selected papers in this book present the recent advances and new developments in indoor localization systems and technologies, propose novel or improved methods with increased performance, provide insight into various aspects of quality control, and also introduce some unorthodox positioning methods

New Approach of Indoor and Outdoor Localization Systems

Accurate determination of the mobile position constitutes the basis of many new applications. This book provides a detailed account of wireless systems for positioning, signal processing, radio localization techniques (Time Difference Of Arrival), performances evaluation, and localization applications. The first section is dedicated to Satellite systems for positioning like GPS, GNSS. The second section addresses the localization applications using the wireless sensor networks. Some techniques are introduced for localization systems, especially for indoor positioning, such as Ultra Wide Band (UWB), WIFI. The last section is dedicated to Coupled GPS and other sensors. Some results of simulations, implementation and tests are given to help readers grasp the presented techniques. This is an ideal book for students, PhD students, academics and engineers in the field of Communication, localization & Signal Processing, especially in indoor and outdoor localization domains