2,549 research outputs found
Robotic Wireless Sensor Networks
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
Mixing navigation on networks
In this Letter, we proposed a mixing navigation mechanism, which interpolates
between random-walk and shortest-path protocol. The navigation efficiency can
be remarkably enhanced via a few routers. Some advanced strategies are also
designed: For non-geographical scale-free networks, the targeted strategy with
a tiny fraction of routers can guarantee an efficient navigation with low and
stable delivery time almost independent of network size. For geographical
localized networks, the clustering strategy can simultaneously increase the
efficiency and reduce the communication cost. The present mixing navigation
mechanism is of significance especially for information organization of
wireless sensor networks and distributed autonomous robotic systems.Comment: 4 pages, and 7 figure
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
Co-Optimization of Communication, Motion and Sensing in Mobile Robotic Operations
In recent years, there has been considerable interest in wireless sensor networks and networked robotic systems. In order to achieve the full potential of such systems, integrative approaches that design the communication, navigation and sensing aspects of the systems simultaneously are needed. However, most of the existing work in the control and robotic communities uses over-simplified disk models or path-loss-only models to characterize the communication in the network, while most of the work in networkingand communication communities does not fully explore the benefits of motion.This dissertation thus focuses on co-optimizing these three aspects simultaneously in realistic communication environments that experience path loss, shadowing and multi-path fading. We show how to integrate the probabilistic channel prediction framework, which allows the robots to predict the channel quality at unvisited locations, into the co-optimization design. In particular, we consider four different scenarios: 1) robotic routerformation, 2) communication and motion energy co-optimization along a pre-defined trajectory, 3) communication and motion energy co-optimization with trajectory planning, and 4) clustering and path planning strategies for robotic data collection. Our theoretical, simulation and experimental results show that the proposed framework considerably outperforms the cases where the communication, motion and sensing aspects of the system are optimized separately, indicating the necessity of co-optimization. They furthershow the significant benefits of using realistic channel models, as compared to the case of using over-simplified disk models
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