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

Optimisation of Mobile Communication Networks - OMCO NET

The mini conference “Optimisation of Mobile Communication Networks” focuses on advanced methods for search and optimisation applied to wireless communication networks. It is sponsored by Research & Enterprise Fund Southampton Solent University. The conference strives to widen knowledge on advanced search methods capable of optimisation of wireless communications networks. The aim is to provide a forum for exchange of recent knowledge, new ideas and trends in this progressive and challenging area. The conference will popularise new successful approaches on resolving hard tasks such as minimisation of transmit power, cooperative and optimal routing

QoS routing in ad-hoc networks using GA and multi-objective optimization

Much work has been done on routing in Ad-hoc networks, but the proposed routing solutions only deal with the best effort data traffic. Connections with Quality of Service (QoS) requirements, such as voice channels with delay and bandwidth constraints, are not supported. The QoS routing has been receiving increasingly intensive attention, but searching for the shortest path with many metrics is an NP-complete problem. For this reason, approximated solutions and heuristic algorithms should be developed for multi-path constraints QoS routing. Also, the routing methods should be adaptive, flexible, and intelligent. In this paper, we use Genetic Algorithms (GAs) and multi-objective optimization for QoS routing in Ad-hoc Networks. In order to reduce the search space of GA, we implemented a search space reduction algorithm, which reduces the search space for GAMAN (GA-based routing algorithm for Mobile Ad-hoc Networks) to find a new route. We evaluate the performance of GAMAN by computer simulations and show that GAMAN has better behaviour than GLBR (Genetic Load Balancing Routing).Peer ReviewedPostprint (published version

Implementation and evaluation of a simulation system based on particle swarm optimisation for node placement problem in wireless mesh networks

With the fast development of wireless technologies, wireless mesh networks (WMNs) are becoming an important networking infrastructure due to their low cost and increased high speed wireless internet connectivity. This paper implements a simulation system based on particle swarm optimisation (PSO) in order to solve the problem of mesh router placement in WMNs. Four replacement methods of mesh routers are considered: constriction method (CM), random inertia weight method (RIWM), linearly decreasing Vmax method (LDVM) and linearly decreasing inertia weight method (LDIWM). Simulation results are provided, showing that the CM converges very fast, but has the worst performance among the methods. The considered performance metrics are the size of giant component (SGC) and the number of covered mesh clients (NCMC). The RIWM converges fast and the performance is good. The LDIWM is a combination of RIWM and LDVM. The LDVM converges after 170 number of phases but has a good performance.Peer ReviewedPostprint (author's final draft

Optimal coverage multi-path scheduling scheme with multiple mobile sinks for WSNs

Wireless Sensor Networks (WSNs) are usually formed with many tiny sensors which are randomly deployed within sensing field for target monitoring. These sensors can transmit their monitored data to the sink in a multi-hop communication manner. However, the ‘hot spots’ problem will be caused since nodes near sink will consume more energy during forwarding. Recently, mobile sink based technology provides an alternative solution for the long-distance communication and sensor nodes only need to use single hop communication to the mobile sink during data transmission. Even though it is difficult to consider many network metrics such as sensor position, residual energy and coverage rate etc., it is still very important to schedule a reasonable moving trajectory for the mobile sink. In this paper, a novel trajectory scheduling method based on coverage rate for multiple mobile sinks (TSCR-M) is presented especially for large-scale WSNs. An improved particle swarm optimization (PSO) combined with mutation operator is introduced to search the parking positions with optimal coverage rate. Then the genetic algorithm (GA) is adopted to schedule the moving trajectory for multiple mobile sinks. Extensive simulations are performed to validate the performance of our proposed method

Route Swarm: Wireless Network Optimization through Mobility

In this paper, we demonstrate a novel hybrid architecture for coordinating networked robots in sensing and information routing applications. The proposed INformation and Sensing driven PhysIcally REconfigurable robotic network (INSPIRE), consists of a Physical Control Plane (PCP) which commands agent position, and an Information Control Plane (ICP) which regulates information flow towards communication/sensing objectives. We describe an instantiation where a mobile robotic network is dynamically reconfigured to ensure high quality routes between static wireless nodes, which act as source/destination pairs for information flow. The ICP commands the robots towards evenly distributed inter-flow allocations, with intra-flow configurations that maximize route quality. The PCP then guides the robots via potential-based control to reconfigure according to ICP commands. This formulation, deemed Route Swarm, decouples information flow and physical control, generating a feedback between routing and sensing needs and robotic configuration. We demonstrate our propositions through simulation under a realistic wireless network regime.Comment: 9 pages, 4 figures, submitted to the IEEE International Conference on Intelligent Robots and Systems (IROS) 201

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