Collision Free Navigation of a Multi-Robot Team for Intruder Interception

In this report, we propose a decentralised motion control algorithm for the mobile robots to intercept an intruder entering (k-intercepting) or escaping (e-intercepting) a protected region. In continuation, we propose a decentralized navigation strategy (dynamic-intercepting) for a multi-robot team known as predators to intercept the intruders or in the other words, preys, from escaping a siege ring which is created by the predators. A necessary and sufficient condition for the existence of a solution of this problem is obtained. Furthermore, we propose an intelligent game-based decision-making algorithm (IGD) for a fleet of mobile robots to maximize the probability of detection in a bounded region. We prove that the proposed decentralised cooperative and non-cooperative game-based decision-making algorithm enables each robot to make the best decision to choose the shortest path with minimum local information. Then we propose a leader-follower based collision-free navigation control method for a fleet of mobile robots to traverse an unknown cluttered environment where is occupied by multiple obstacles to trap a target. We prove that each individual team member is able to traverse safely in the region, which is cluttered by many obstacles with any shapes to trap the target while using the sensors in some indefinite switching points and not continuously, which leads to saving energy consumption and increasing the battery life of the robots consequently. And finally, we propose a novel navigation strategy for a unicycle mobile robot in a cluttered area with moving obstacles based on virtual field force algorithm. The mathematical proof of the navigation laws and the computer simulations are provided to confirm the validity, robustness, and reliability of the proposed methods

Quantifying Potential Energy Efficiency Gain in Green Cellular Wireless Networks

Conventional cellular wireless networks were designed with the purpose of providing high throughput for the user and high capacity for the service provider, without any provisions of energy efficiency. As a result, these networks have an enormous Carbon footprint. In this paper, we describe the sources of the inefficiencies in such networks. First we present results of the studies on how much Carbon footprint such networks generate. We also discuss how much more mobile traffic is expected to increase so that this Carbon footprint will even increase tremendously more. We then discuss specific sources of inefficiency and potential sources of improvement at the physical layer as well as at higher layers of the communication protocol hierarchy. In particular, considering that most of the energy inefficiency in cellular wireless networks is at the base stations, we discuss multi-tier networks and point to the potential of exploiting mobility patterns in order to use base station energy judiciously. We then investigate potential methods to reduce this inefficiency and quantify their individual contributions. By a consideration of the combination of all potential gains, we conclude that an improvement in energy consumption in cellular wireless networks by two orders of magnitude, or even more, is possible.Comment: arXiv admin note: text overlap with arXiv:1210.843

NASA Tech Briefs, August 2010

Topics covered include: Technology Focus: Mechanical Components; Electronics/Computers; Software; Materials; Mechanics/Machinery; Manufacturing; Bio-Medical; Physical Sciences; Information Sciences; and Books and Reports

Object tracking sensor networks in smart cities: Taxonomy, architecture, applications, research challenges and future directions

The development of pervasive communication devices and the emergence of the Internet of Things (IoT) have acted as an essential part in the feasibility of smart city initiatives. Wireless sensor network (WSN) as a key enabling technology in IoT offers the potential for cities to get smatter. WSNs gained tremendous attention during the recent years because of their rising number of applications that enables remote monitoring and tracking in smart cities. One of the most exciting applications of WSNs in smart cities is detection, monitoring, and tracking which is referred to as object tracking sensor networks (OTSN). The adaptation of OTSN into urban cities brought new exciting challenges for reaching the goal of future smart cities. Such challenges focus primarily on problems related to active monitoring and tracking in smart cities. In this paper, we present the essential characteristics of OTSN, monitoring and tracking application used with the content of smart city. Moreover, we discussed the taxonomy of OTSN along with analysis and comparison. Furthermore, research challenges are investigated concerning energy reservation, object detection, object speed, accuracy in tracking, sensor node collaboration, data aggregation and object recovery position estimation. This review can serve as a benchmark for researchers for future development of smart cities in the context of OTSN. Lastly, we provide future research direction

Design Experiences on Single and Multi Radio Systems in Wireless Embedded Platforms

The progress of radio technology has made several flavors of radio available on the market.Wireless sensor network platform designers have used these radios to build a variety of platforms. Withnew applications and different types of radios on wireless sensing nodes, it is often hard to interconnectdifferent types of networks. Hence, often additional radios have to be integrated onto existingplatforms or new platforms have to be built. Additionally, the energy consumption of these nodes have to be optimized to meetlifetime requirements of years without recharging.In this thesis, we address two issues of single and multi radio platform designfor wireless sensor network applications - engineering issues and energy optimization.We present a set of guiding principles from our design experiences while building 3 real life applications,namely asset tracking, burglar tracking and finally in-situ psychophysiological stress monitoring of human subjects in behavioral studies.In the asset tracking application, we present our design of a tag node that can be hidden inside valuable personal assets such asprinters or sofas in a home. If these items are stolen, a city wide anchor node infrastructure networkwould track them throughout the city. We also present our design for the anchor node.In the burglar tracking application, we present the design of tag nodes and the issueswe faced while integrating it with a GSM radio. Finally, we discuss our experiencesin designing a bridge node, that connects body worn physiological sensorsto a Bluetooth enabled mobile smartphone. We present the software framework that acts as middleware toconnect to the bridge, parse the sensor data, and send it to higher layers of the softwareframework.We describe 2 energy optimization schemes that are used in the Asset Tracking and the Burglar Tracking applications, that enhance the lifetime of the individual applications manifold.In the asset tracking application,we design a grouping scheme that helps increase reliability of detection of the tag nodes at theanchor nodes while reducing the energy consumption of the group of tag nodes travelling together.We achieve an increase of 5 times improvement in lifetime of the entire group. In the Burglar Tracking application, weuse sensing to determine when to turn the GSM radio on and transmit data by differentiatingturns and lane changes. This helps us reduce the number of times the GSM radio is woken up, thereby increasing thelifetime of the tag node while it is being tracked. This adds 8 minutes of trackablelifetime to the burglar tracking tag node. We conclude this thesis by observing the futuretrends of platform design and radio evolution

Towards Secure and Scalable Tag Search approaches for Current and Next Generation RFID Systems

The technology behind Radio Frequency Identification (RFID) has been around for a while, but dropping tag prices and standardization efforts are finally facilitating the expansion of RFID systems. The massive adoption of this technology is taking us closer to the well known ubiquitous computing scenarios. However, the widespread deployment of RFID technology also gives rise to significant user security issues. One possible solution to these challenges is the use of secure authentication protocols to protect RFID communications. A natural extension of RFID authentication is RFID tag searching, where a reader needs to search for a particular RFID tag out of a large collection of tags. As the number of tags of the system increases, the ability to search for the tags is invaluable when the reader requires data from a few tags rather than all the tags of the system. Authenticating each tag one at a time until the desired tag is found is a time consuming process. Surprisingly, RFID search has not been widely addressed in the literature despite the availability of search capabilities in typical RFID tags. In this thesis, we examine the challenges of extending security and scalability issues to RFID tag search and suggest several solutions. This thesis aims to design RFID tag search protocols that ensure security and scalability using lightweight cryptographic primitives. We identify the security and performance requirements for RFID systems. We also point out and explain the major attacks that are typically launched against an RFID system. This thesis makes four main contributions. First, we propose a serverless (without a central server) and untraceable search protocol that is secure against major attacks we identified earlier. The unique feature of this protocol is that it provides security protection and searching capacity same as an RFID system with a central server. In addition, this approach is no more vulnerable to a single point-of-failure. Second, we propose a scalable tag search protocol that provides most of the identified security and performance features. The highly scalable feature of this protocol allows it to be deployed in large scale RFID systems. Third, we propose a hexagonal cell based distributed architecture for efficient RFID tag searching in an emergency evacuation system. Finally, we introduce tag monitoring as a new dimension of tag searching and propose a Slotted Aloha based scalable tag monitoring protocol for next generation WISP (Wireless Identification and Sensing Platform) tags

Advances in Robot Navigation

Robot navigation includes different interrelated activities such as perception - obtaining and interpreting sensory information; exploration - the strategy that guides the robot to select the next direction to go; mapping - the construction of a spatial representation by using the sensory information perceived; localization - the strategy to estimate the robot position within the spatial map; path planning - the strategy to find a path towards a goal location being optimal or not; and path execution, where motor actions are determined and adapted to environmental changes. This book integrates results from the research work of authors all over the world, addressing the abovementioned activities and analyzing the critical implications of dealing with dynamic environments. Different solutions providing adaptive navigation are taken from nature inspiration, and diverse applications are described in the context of an important field of study: social robotics