Leveraging Communicating UAVs for Emergency Vehicle Guidance in Urban Areas

International audienceThe response time to emergency situations in urban areas is considered as a crucial key in limiting material damage or even saving human lives. Thanks to their "bird's eye view" and their flexible mobility, Unmanned Aerial Vehicles (UAVs) can be a promising candidate for several vital applications. Under these perspectives, we investigate the use of communicating UAVs to detect any incident on the road, provide rescue teams with their exact locations, and plot the fastest path to intervene, while considering the constraints of the roads. To efficiently inform the rescue services, a robust routing scheme is introduced to ensure a high level of communication stability based on an efficient backbone, while considering both the high mobility and the restricted energy capacity of UAVs. This allows both predicting any routing path breakage prior to its occurrence, and carrying out a balanced energy consumption among UAVs. To ensure a rapid intervention by rescue teams, UAVs communicate in an ad hoc fashion with existing vehicles on the ground to estimate the fluidity of the roads. Our system is implemented and evaluated through a series of experiments. The reported results show that each part of the system reliably succeeds in achieving its planned objective

Energy-aware medium access control protocols for wireless sensors network applications

The main purpose of this thesis was to investigate energy efficient Medium Access Control (MAC) protocols designed to extend the lifetime of a wireless sensor network application, such as tracking, environment monitoring, home security, patient monitoring, e.g., foetal monitoring in the last weeks of pregnancy. From the perspective of communication protocols, energy efficiency is one of the most important issues, and can be addressed at each layer of the protocol stack; however, our research only focuses on the medium access control (MAC) layer. An energy efficient MAC protocol was designed based on modifications and optimisations for a synchronized power saving Sensor MAC (SMAC) protocol, which has three important components: periodic listen and sleep, collision and overhearing avoidance and message passing. The Sensor Block Acknowledgement (SBACK) MAC protocol is proposed, which combines contention-based, scheduling-based and block acknowledgement-based schemes to achieve energy efficiency. In SBACK, the use of ACK control packets is reduced since it will not have an ACK packet for every DATA packet sent; instead, one special packet called Block ACK Response will be used at the end of the transmission of all data packets. This packet informs the sender of how many packets were received by the receiver, reducing the number of ACK control packets we intended to reduce the power consumption for the nodes. Hence more useful data packets can be transmitted. A comparison study between SBACK and SMAC protocol is also performed. Considering 0% of packet losses, SBACK decreases the energy consumption when directly compared with S-MAC, we will have always a decrease of energy consumption. Three different transceivers will be used and considering a packet loss of 10% we will have a decrease of energy consumption between 10% and 0.1% depending on the transceiver. When there are no retransmissions of packets, SBACK only achieve worst performance when the number of fragments is less than 12, after that the decrease of average delay increases with the increase of the fragments sent. When 10% of the packets need retransmission only for the TR1000 transceiver worst results occurs in terms of energy waste, all other transceivers (CC2420 and AT86RF230) achieve better results. In terms of delay if we need to retransmit more than 10 packets the SBACK protocol always achieves better performance when comparing with the other MAC protocols that uses ACK

An Integrated Testbed for Cooperative Perception with Heterogeneous Mobile and Static Sensors

Cooperation among devices with different sensing, computing and communication capabilities provides interesting possibilities in a growing number of problems and applications including domotics (domestic robotics), environmental monitoring or intelligent cities, among others. Despite the increasing interest in academic and industrial communities, experimental tools for evaluation and comparison of cooperative algorithms for such heterogeneous technologies are still very scarce. This paper presents a remote testbed with mobile robots and Wireless Sensor Networks (WSN) equipped with a set of low-cost off-the-shelf sensors, commonly used in cooperative perception research and applications, that present high degree of heterogeneity in their technology, sensed magnitudes, features, output bandwidth, interfaces and power consumption, among others. Its open and modular architecture allows tight integration and interoperability between mobile robots and WSN through a bidirectional protocol that enables full interaction. Moreover, the integration of standard tools and interfaces increases usability, allowing an easy extension to new hardware and software components and the reuse of code. Different levels of decentralization are considered, supporting from totally distributed to centralized approaches. Developed for the EU-funded Cooperating Objects Network of Excellence (CONET) and currently available at the School of Engineering of Seville (Spain), the testbed provides full remote control through the Internet. Numerous experiments have been performed, some of which are described in the paper

A generic software architecture for portable applications in heterogeneous wireless sensor networks

In the last years, wireless sensor networks (WSNs) are acquiring more importance as a promising technology based on tiny devices called sensor nodes or motes able to monitor a wide range of physical phenomenon through sensors. Numerous branches of science are being benefited. The intrinsic ubiquity of sensor nodes and the absence of network infrastructure make possible their deployment in hostile or, up to now, unknown environments which have been typically unaccessible for humans such as volcanos or glaciers, providing precise and up-to-date data. As potential applications continue arising, both new technical and conceptual challenges appear. The severe hardware restrictions of sensor nodes in relation to computation, communication and specifically, energy, have posed new and exciting requirements. In particular, research is moving towards heterogeneous networks that will contain different devices running custom WSN operating systems. Operating systems specifically designed for sensor nodes are intended to efficiently manage the hardware resources and facilitate the programming. Nevertheless, they often lack the generality and the high-level abstractions expected at this abstraction layer. Consequently, they do not completely hide either the underlying platform or its execution model, making the applications programming close to operating system and thus reducing the portability. This thesis focuses on the portability of applications in heterogeneous wireless sensor networks. To contribute to this important challenge the thesis proposes a generic software architecture based on sensor node, which supports the process of applications development by homogenizing and facilitating the access to different WSN operating systems. Specifically, the next main objectives have been established. * Designing and implementing a generic sensor node-centric architecture distinguishing clearly the different abstraction levels in a sensor node. The architecture should be flexible enough in order to incorporate high-level abstractions which facilitate the the programming. * As part of the architecture, constructing an intermediate layer between applications and sensor node operating system. This layer is intended to abstract away the operating system by demultiplexing a set of homogeneous services and mapping them into operating system-specific requests. To achieve this, programming language extensions have to be also specified on top of the architecture, in order to write portable applications. In this way, platform-specific code can be generated from these high-level applications for di erent sensor node platforms. In this way, architecture deals with the problem of heterogeneity and portability. * Evaluating the feasibility of incorporating the abstractions above mentioned within the development process in terms of portability, efficiency and productivity. In this environment the footprint is a specially critical issue, due to the hardware limitations. In fact, an excessive overhead of applications size could make prohibitive the proposed solution. The thesis presents a generic software architecture for portable applications in heterogeneous wireless sensor networks. The proposed solution and its evaluation is described in this document. Theoretical and practical contributions of this thesis and the main future research directions are also presented.-------------------------------------------------------------------------------------------------------------------------En los últimos años, las redes de sensores inalámbricas han adquirido cada vez mayor protagonismo y se han erigido como una prometedora tecnología basada en dispositivos pequeños denominados nodos sensores o motes, que son capaces de monitorizar fenómenos físicos a través de diferentes sensores. Un gran número de diferentes ramas de las ciencias podrían verse beneficiadas. La naturaleza ubicua de los nodos además de la ausencia de una infraestructura de red, hacen posible la instalación de estas redes en terrenos inhóspitos y típicamente inaccesibles para los seres humanos, como por ejemplo glaciares o volcanes, para proporcionar un conocimiento preciso y actualizado. A medida que continúan apareciendo diferentes aplicaciones potenciales, surgen nuevos retos tanto técnicos como conceptuales. Las restricciones severas de los recursos en términos de cómputo, comunicación y, sobre todo, energía, plantean nuevos requerimientos. En particular, la investigación tiende a crear redes heterogéneas que incluyen diferentes dispositivos de hardware e integran sistemas operativos desarrollados ad-hoc. Los sistemas operativos específicamente diseñados para nodos sensores han sido concebidos para gestionar eficientemente sus recursos de hardware y facilitar la programación. Sin embargo, a menudo carecen de la generalidad y de las abstracciones de alto nivel esperadas en esta capa de abstracción. Por tanto, los sistemas operativos no enmascaran completamente su modelo de ejecución ni la plataforma subyacente, convirtiendo la programación de aplicaciones en fuertemente acoplada al sistema operativo y, consecuentemente, reduciendo la portabilidad. Esta tesis se centra en la portabilidad de aplicaciones en redes de sensores inalámbricas heterogéneas. Con el objeto de contribuir a este relevante ámbito de estudio, la tesis propone una arquitectura de software genérica basada en nodo sensor, la cual soporta el proceso de desarrollo de aplicaciones homogeneizando y facilitando el acceso a diferentes sistemas operativos de nodos sensores. Específicamente, se han establecido los siguientes objetivos principales: * Diseñar e implementar una arquitectura genérica de nodo sensor distinguiendo con claridad los diferentes niveles de abstracción del nodo sensor. La arquitectura propuesta debería ser flexible para poder incorporar nuevas abstracciones de alto nivel que faciliten la programación de las aplicaciones. * Como parte de la arquitectura, deberá construirse una capa de abstracción localizada entre las aplicaciones y el sistema operativo. Su objetivo es abstraer el sistema operativo subyacente mediante un conjunto de servicios homogéneos que puedan ser mapeados en servicios específicos del sistema operativo. Para ello se deberá especificar en la capa superior de la arquitectura el conjunto de extensiones del lenguaje de programación que permitan escribir aplicaciones portables. Consecuentemente, el código específico de la plataforma puede ser generado a partir de las aplicaciones de alto nivel para diferentes plataformas de nodos sensores. De esta manera, la arquitectura trata los problemas de portabilidad y heterogeneidad en la construcción de aplicaciones. * Evaluar la factibilidad de incorporar las abstracciones previamente mencionadas para ser usadas dentro del proceso de desarrollo de aplicaciones, en términos de portabilidad, eficiencia y productividad. En el entorno de las redes de sensores, el consumo eficiente de los recursos de hardware es un aspecto crítico debido al presupuesto limitado del hardware. De hecho, una sobrecarga excesiva haría prohibitiva e inviable la propuesta. Esta tesis describe una arquitectura de software genérica para aplicaciones portables en redes de sensores inalámbricas heterogéneas. La solución propuesta y su evaluación se presentan en este documento. Las contribuciones teóricas y prácticas de esta tesis serán analizadas, así como las líneas futuras de investigación que derivan de este trabajo