2,393 research outputs found

    Robotic Wireless Sensor Networks

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    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

    A bank of unscented Kalman filters for multimodal human perception with mobile service robots

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    A new generation of mobile service robots could be ready soon to operate in human environments if they can robustly estimate position and identity of surrounding people. Researchers in this field face a number of challenging problems, among which sensor uncertainties and real-time constraints. In this paper, we propose a novel and efficient solution for simultaneous tracking and recognition of people within the observation range of a mobile robot. Multisensor techniques for legs and face detection are fused in a robust probabilistic framework to height, clothes and face recognition algorithms. The system is based on an efficient bank of Unscented Kalman Filters that keeps a multi-hypothesis estimate of the person being tracked, including the case where the latter is unknown to the robot. Several experiments with real mobile robots are presented to validate the proposed approach. They show that our solutions can improve the robot's perception and recognition of humans, providing a useful contribution for the future application of service robotics

    Multisensor-based human detection and tracking for mobile service robots

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    The one of fundamental issues for service robots is human-robot interaction. In order to perform such a task and provide the desired services, these robots need to detect and track people in the surroundings. In the present paper, we propose a solution for human tracking with a mobile robot that implements multisensor data fusion techniques. The system utilizes a new algorithm for laser-based legs detection using the on-board LRF. The approach is based on the recognition of typical leg patterns extracted from laser scans, which are shown to be very discriminative also in cluttered environments. These patterns can be used to localize both static and walking persons, even when the robot moves. Furthermore, faces are detected using the robot's camera and the information is fused to the legs position using a sequential implementation of Unscented Kalman Filter. The proposed solution is feasible for service robots with a similar device configuration and has been successfully implemented on two different mobile platforms. Several experiments illustrate the effectiveness of our approach, showing that robust human tracking can be performed within complex indoor environments

    Queue Length and Mobility aware Routing Protocol for Mobile Ad hoc Network

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    A mobile ad-hoc network (MANET) is different from other wireless networks in many ways. One of the key differences is that a MANET is a multihop wireless network,i.e., a routing path is composed of intermediate mobile nodes and wireless links connecting them. In this paper, heterogeneous Mobile Ad-hoc Networks (H-MANETs) are considered. H-MANETs are composed of nodes with different transmission range. We propose an improvement of AODV protocol called AMAODV (Adaptative Mobility aware AODV). This protocol is based on new metric combine more routing metrics (distance, relative velocity, queue length and hop count) between each node and one hop neighbor. Which permits to avoid losing route. Through the simulation, it is confirmed that this improvement has higher packet delivery ratio and less average end-to-end delay than basic AODV protocol.

    Design and implementation of event-based multi-rate controllers for networked control systems

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    Tesis por compendio[ES] Con esta tesis se pretende dar solución a algunos de los problemas más habituales que aparecen en los Sistemas de control basados en red (NCS) como son los retardos variables en el tiempo, las pérdidas y el desorden de paquetes, y la restricción de ancho de banda y de recursos computacionales y energéticos de los dispositivos que forman parte del sistema de control. Para ello se ha planteado la integración de técnicas de control multifrecuencial, de control basado en paquetes, de control basado en predictor y de control basado en eventos. Los diseños de control realizados se han simulado utilizando Matlab-Simulink y Truetime, se ha analizado su estabilidad mediante LMIs y QFT, y se han validado experimentalmente en un péndulo invertido, un robot cartesiano 3D y en robots móviles de bajo coste. El artículo 1 aborda el control basado en eventos, el cual minimiza el ancho de banda consumido en el NCS mediante un control basado en eventos periódicos y presenta un método para obtener sus parámetros óptimos para el sistema específico en que se utilice. Los artículos 2, 4 y 6 añaden el control basado en paquetes, así como el control multifrecuencia, que aborda problemas de falta de datos por bajo uso del sensor y los retardos, pérdidas y desórdenes de paquetes en la red. También afrontan, mediante tecnicas de predicción basadas en un filtro de Kalman multifrecuencia variable en el tiempo, los problemas de ruido y perturbaciones, así como la observación de los estados completos del sistema. El artículo 7 hace frente a un modelo no lineal que utiliza las anteriores soluciones junto con un filtro de Kalman extendido para presentar otro tipo de estructura para un vehículo autónomo que, gracias a la información futura obtenida mediante estas técnicas, puede realizar de forma remota tareas de alto nivel como es la toma de decisiones y la monitorización de variables. Los artículos 3 y 5, presentan una forma de obtener y analizar la respuesta en frecuencia de sistemas SISO multifrecuencia y estudian su comportamiento ante ciertas incertidumbres o problemas en la red haciendo uso de procedimientos QFT.[CA] Amb aquesta tesi es pretén donar solució a alguns dels problemes més habituals que apareixen als Sistemes de Control Basats en xarxa (NCS) com son els retards d'accés i transferència variables en el temps, les pèrdues y desordenament de paquets, i la restricció d'ampli de banda així com de recursos computacionals i energètics dels dispositius que foment part del sistema de control. Per tal de resoldre'ls s'ha plantejat la integració de tècniques de control multifreqüencial, de control basat en paquets, de control basat en predictor i de control basat en events. Els dissenys de control realitzats s'han simulat fent ús de Matlab-Simulink i de TrueTime, s'ha analitzat la seua estabilitat mitjançant LMIs i QFT, i s'han validat experimentalment en un pèndul invertit, un robot cartesià 3D i en robots mòbils de baix cost. L'article 1 aborda el control basat en events, el qual minimitza l'ampli de banda consumit a l'NCS mitjançant un control basat en events periòdics i presenta un mètode per a obtindré els seus paràmetres òptims per al sistema específic en el qual s'utilitza. Els articles 2, 4 i 6 afegeixen el control basat en paquets, així com el control multifreqüència, que aborda problemes de falta de dades per el baix us del sensor i els retards, pèrdues i desordre de paquets en la xarxa. També afronten, mitjançant tècniques de predicció basades en un filtre de Kalman multifreqüència variable en el temps. Els problemes de soroll i pertorbacions, així com la observació dels estats complets del sistema. L'article 7 fa referència a un model no lineal que utilitza les anteriors solucions junt a un filtre de Kalman estès per a presentar altre tipus d'estructura per a un vehicle autònom que, gracies a la informació futura obtinguda mitjançant aquestes tècniques, pot realitzar de manera remota tasques d'alt nivell com son la presa de decisions i la monitorització de variables. Els articles 3 y 5 presenten la manera d'obtindre i analitzar la resposta en frequencia de sistemes SISO multifreqüència i estudien el seu comportament front a certes incerteses o problemes en la xarxa fent us de procediments QFT.[EN] This thesis attempts to solve some of the most frequent issues that appear in Networked Control Systems (NCS), such as time-varying delays, packet losses and packet disorders and the bandwidth limitation. Other frequent problems are scarce computational and energy resources of the local system devices. Thus, it is proposed to integrate multirate control, packet-based control, predictor-based control and event-based control techniques. The control designs have been simulated using Matlab-Simulink and Truetime, the stability has been analysed by LMIs and QFT, and the experimental validation has been done on an inverted pendulum, a 3D cartesian robot and in low-cost mobile robots. Paper 1 addresses event-based control, which minimizes the bandwidth consumed in NCS through a periodic event-triggered control and presents a method to obtain the optimal parameters for the specific system used. Papers 2, 4 and 6 include packet-based control and multirate control, addressing problems such as network delays, packet dropouts and packet disorders, and the scarce data due to low sensor usage in order to save battery in sensing tasks and transmissions of the sensed data. Also addressed, is how despite the existence of measurement noise and disturbances, time-varying dual-rate Kalman filter based prediction techniques observe the complete state of the system. Paper 7 tackles a non-linear model that uses all the previous solutions together with an extended Kalman filter to present another type of structure for an autonomous vehicle that, due to future information obtained through these techniques, can remotely carry out high level tasks, such as decision making and monitoring of variables. Papers 3 and 5, present a method for obtaining and analyzing the SISO dual-rate frequency response and using QFT procedures to study its behavior when faced with specific uncertainties or network problems.This work was supported by the Spanish Ministerio de Economía y Competitividad under Grant referenced TEC2012-31506.Alcaina Acosta, JJ. (2020). Design and implementation of event-based multi-rate controllers for networked control systems [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/159884TESISCompendi

    Resource-efficient strategies for mobile ad-hoc networking

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    The ubiquity and widespread availability of wireless mobile devices with ever increasing inter-connectivity (e. g. by means of Bluetooth, WiFi or UWB) have led to new and emerging next generation mobile communication paradigms, such as the Mobile Ad-hoc NETworks (MANETs). MANETs are differentiated from traditional mobile systems by their unique properties, e. g. unpredictable nodal location, unstable topology and multi-hop packet relay. The success of on-going research in communications involving MANETs has encouraged their applications in areas with stringent performance requirements such as the e-healthcare, e. g. to connect them with existing systems to deliver e-healthcare services anytime anywhere. However, given that the capacity of mobile devices is restricted by their resource constraints (e. g. computing power, energy supply and bandwidth), a fundamental challenge in MANETs is how to realize the crucial performance/Quality of Service (QoS) expectations of communications in a network of high dynamism without overusing the limited resources. A variety of networking technologies (e. g. routing, mobility estimation and connectivity prediction) have been developed to overcome the topological instability and unpredictability and to enable communications in MANETs with satisfactory performance or QoS. However, these technologies often feature a high consumption of power and/or bandwidth, which makes them unsuitable for resource constrained handheld or embedded mobile devices. In particular, existing strategies of routing and mobility characterization are shown to achieve fairly good performance but at the expense of excessive traffic overhead or energy consumption. For instance, existing hybrid routing protocols in dense MANETs are based in two-dimensional organizations that produce heavy proactive traffic. In sparse MANETs, existing packet delivery strategy often replicates too many copies of a packet for a QoS target. In addition, existing tools for measuring nodal mobility are based on either the GPS or GPS-free positioning systems, which incur intensive communications/computations that are costly for battery-powered terminals. There is a need to develop economical networking strategies (in terms of resource utilization) in delivering the desired performance/soft QoS targets. The main goal of this project is to develop new networking strategies (in particular, for routing and mobility characterization) that are efficient in terms of resource consumptions while being effective in realizing performance expectations for communication services (e. g. in the scenario of e-healthcare emergency) with critical QoS requirements in resource-constrained MANETs. The main contributions of the thesis are threefold: (1) In order to tackle the inefficient bandwidth utilization of hybrid service/routing discovery in dense MANETs, a novel "track-based" scheme is developed. The scheme deploys a one-dimensional track-like structure for hybrid routing and service discovery. In comparison with existing hybrid routing/service discovery protocols that are based on two-dimensional structures, the track-based scheme is more efficient in terms of traffic overhead (e. g. about 60% less in low mobility scenarios as shown in Fig. 3.4). Due to the way "provocative tracks" are established, the scheme has also the capability to adapt to the network traffic and mobility for a better performance. (2) To minimize the resource utilization of packet delivery in sparse MANETs where wireless links are intermittently connected, a store-and-forward based scheme, "adaptive multicopy routing", was developed for packet delivery in sparse mobile ad-hoc networks. Instead of relying on the source to control the delivery overhead as in the conventional multi-copy protocols, the scheme allows each intermediate node to independently decide whether to forward a packet according to the soft QoS target and local network conditions. Therefore, the scheme can adapt to varying networking situations that cannot be anticipated in conventional source-defined strategies and deliver packets for a specific QoS targets using minimum traffic overhead. ii (3) The important issue of mobility measurement that imposes heavy communication/computation burdens on a mobile is addressed with a set of resource-efficient "GPS-free" soluti ons, which provide mobility characterization with minimal resource utilization for ranging and signalling by making use of the information of the time-varying ranges between neighbouring mobile nodes (or groups of mobile nodes). The range-based solutions for mobility characterization consist of a new mobility metric for network-wide performance measurement, two velocity estimators for approximating the inter-node relative speeds, and a new scheme for characterizing the nodal mobility. The new metric and its variants are capable of capturing the mobility of a network as well as predicting the performance. The velocity estimators are used to measure the speed and orientation of a mobile relative to its neighbours, given the presence of a departing node. Based on the velocity estimators, the new scheme for mobility characterization is capable of characterizing the mobility of a node that are associated with topological stability, i. e. the node's speeds, orientations relative to its neighbouring nodes and its past epoch time. iiiBIOPATTERN EU Network of Excellence (EU Contract 508803

    Towards Reliable Mobile Ad Hoc Networks

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