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

Network coding meets multimedia: a review

While every network node only relays messages in a traditional communication system, the recent network coding (NC) paradigm proposes to implement simple in-network processing with packet combinations in the nodes. NC extends the concept of "encoding" a message beyond source coding (for compression) and channel coding (for protection against errors and losses). It has been shown to increase network throughput compared to traditional networks implementation, to reduce delay and to provide robustness to transmission errors and network dynamics. These features are so appealing for multimedia applications that they have spurred a large research effort towards the development of multimedia-specific NC techniques. This paper reviews the recent work in NC for multimedia applications and focuses on the techniques that fill the gap between NC theory and practical applications. It outlines the benefits of NC and presents the open challenges in this area. The paper initially focuses on multimedia-specific aspects of network coding, in particular delay, in-network error control, and mediaspecific error control. These aspects permit to handle varying network conditions as well as client heterogeneity, which are critical to the design and deployment of multimedia systems. After introducing these general concepts, the paper reviews in detail two applications that lend themselves naturally to NC via the cooperation and broadcast models, namely peer-to-peer multimedia streaming and wireless networkin

Verification of Autonomous Systems: Developmental Test and Evaluation of an Autonomous UAS Swarming Algorithm Combining Simulation, Formulation and Live Flight

This research was driven by the increase of autonomous systems in the current millennium and the challenging nature of testing and evaluating their performance. A review of the current literature revealed proposed methods for verifying autonomous systems, but few implementations. It exposed several gaps in the current verification and validation methods and suggested goals for filling them. Through the use of modeling, software in the loop (SITL), and flight test, this research verified an autonomous swarming algorithm for unmanned aerial systems (UAS) and validated an exemplar of a testing framework. Thirteen sets of three-vehicle swarm data produced over two days of flight testing provided a baseline algorithm analysis. During these tests, vehicle separation distances deviated an average of 5.61 meters from the ideal state, with separation distance violations \u3c 6:39% of the time. The swarm achieved a 0.27 m average deviation and 0.43% violation in the best cases. Average packet loss between vehicles was 4.94% at a 5 Hz update rate, with an optimal communication lag \u3c 0:04 seconds. The multi-faceted empirical analysis created through the pairing of qualitative and quantitative analysis provided a complete understanding of vehicle behavior. This analysis also identified various areas of improvement for the algorithm and testing framework. The outcomes of this research formed a baseline testing continuum that is adaptable to a variety of follow-on investigations into formal verification of autonomous systems

A Framework for Automatic Behavior Generation in Multi-Function Swarms

Multi-function swarms are swarms that solve multiple tasks at once. For example, a quadcopter swarm could be tasked with exploring an area of interest while simultaneously functioning as ad-hoc relays. With this type of multi-function comes the challenge of handling potentially conflicting requirements simultaneously. Using the Quality-Diversity algorithm MAP-elites in combination with a suitable controller structure, a framework for automatic behavior generation in multi-function swarms is proposed. The framework is tested on a scenario with three simultaneous tasks: exploration, communication network creation and geolocation of RF emitters. A repertoire is evolved, consisting of a wide range of controllers, or behavior primitives, with different characteristics and trade-offs in the different tasks. This repertoire would enable the swarm to transition between behavior trade-offs online, according to the situational requirements. Furthermore, the effect of noise on the behavior characteristics in MAP-elites is investigated. A moderate number of re-evaluations is found to increase the robustness while keeping the computational requirements relatively low. A few selected controllers are examined, and the dynamics of transitioning between these controllers are explored. Finally, the study develops a methodology for analyzing the makeup of the resulting controllers. This is done through a parameter variation study where the importance of individual inputs to the swarm controllers is assessed and analyzed

Optimizing on-demand resource deployment for peer-assisted content delivery (PhD thesis)

Increasingly, content delivery solutions leverage client resources in exchange for service in a peer-to-peer (P2P) fashion. Such peer-assisted service paradigms promise significant infrastructure cost reduction, but suffer from the unpredictability associated with client resources, which is often exhibited as an imbalance between the contribution and consumption of resources by clients. This imbalance hinders the ability to guarantee a minimum service fidelity of these services to the clients. In this thesis, we propose a novel architectural service model that enables the establishment of higher fidelity services through (1) coordinating the content delivery to optimally utilize the available resources, and (2) leasing the least additional cloud resources, available through special nodes (angels) that join the service on-demand, and only if needed, to complement the scarce resources available through clients. While the proposed service model can be deployed in many settings, this thesis focuses on peer-assisted content delivery applications, in which the scarce resource is typically the uplink capacity of clients. We target three applications that require the delivery of fresh as opposed to stale content. The first application is bulk-synchronous transfer, in which the goal of the system is to minimize the maximum distribution time -- the time it takes to deliver the content to all clients in a group. The second application is live streaming, in which the goal of the system is to maintain a given streaming quality. The third application is Tor, the anonymous onion routing network, in which the goal of the system is to boost performance (increase throughput and reduce latency) throughout the network, and especially for bandwidth-intensive applications. For each of the above applications, we develop mathematical models that optimally allocate the already available resources. They also optimally allocate additional on-demand resource to achieve a certain level of service. Our analytical models and efficient constructions depend on some simplifying, yet impractical, assumptions. Thus, inspired by our models and constructions, we develop practical techniques that we incorporate into prototypical peer-assisted angel-enabled cloud services. We evaluate those techniques through simulation and/or implementation. (Major Advisor: Azer Bestavros

Project Final Report – FREEDOM ICT-248891

This document is the final publishable summary report of the objective and work carried out within the European Project FREEDOM, ICT-248891.This document is the final publishable summary report of the objective and work carried out within the European Project FREEDOM, ICT-248891.Preprin

Optimizing on-demand resource deployment for peer-assisted content delivery

Increasingly, content delivery solutions leverage client resources in exchange for services in a pee-to-peer (P2P) fashion. Such peer-assisted service paradigm promises significant infrastructure cost reduction, but suffers from the unpredictability associated with client resources, which is often exhibited as an imbalance between the contribution and consumption of resources by clients. This imbalance hinders the ability to guarantee a minimum service fidelity of these services to clients especially for real-time applications where content can not be cached. In this thesis, we propose a novel architectural service model that enables the establishment of higher fidelity services through (1) coordinating the content delivery to efficiently utilize the available resources, and (2) leasing the least additional cloud resources, available through special nodes (angels) that join the service on-demand, and only if needed, to complement the scarce resources available through clients. While the proposed service model can be deployed in many settings, this thesis focuses on peer-assisted content delivery applications, in which the scarce resource is typically the upstream capacity of clients. We target three applications that require the delivery of real-time as opposed to stale content. The first application is bulk-synchronous transfer, in which the goal of the system is to minimize the maximum distribution time - the time it takes to deliver the content to all clients in a group. The second application is live video streaming, in which the goal of the system is to maintain a given streaming quality. The third application is Tor, the anonymous onion routing network, in which the goal of the system is to boost performance (increase throughput and reduce latency) throughout the network, and especially for clients running bandwidth-intensive applications. For each of the above applications, we develop analytical models that efficiently allocate the already available resources. They also efficiently allocate additional on-demand resource to achieve a certain level of service. Our analytical models and efficient constructions depend on some simplifying, yet impractical, assumptions. Thus, inspired by our models and constructions, we develop practical techniques that we incorporate into prototypical peer-assisted angel-enabled cloud services. We evaluate these techniques through simulation and/or implementation

Connectivity and Data Transmission over Wireless Mobile Systems

We live in a world where wireless connectivity is pervasive and becomes ubiquitous. Numerous devices with varying capabilities and multiple interfaces are surrounding us. Most home users use Wi-Fi routers, whereas a large portion of human inhabited land is covered by cellular networks. As the number of these devices, and the services they provide, increase, our needs in bandwidth and interoperability are also augmented. Although deploying additional infrastructure and future protocols may alleviate these problems, efficient use of the available resources is important. We are interested in the problem of identifying the properties of a system able to operate using multiple interfaces, take advantage of user locations, identify the users that should be involved in the routing, and setup a mechanism for information dissemination. The challenges we need to overcome arise from network complexity and heterogeneousness, as well as the fact that they have no single owner or manager. In this thesis I focus on two cases, namely that of utilizing "in-situ" WiFi Access Points to enhance the connections of mobile users, and that of establishing "Virtual Access Points" in locations where there is no fixed roadside equipment available. Both environments have attracted interest for numerous related works. In the first case the main effort is to take advantage of the available bandwidth, while in the second to provide delay tolerant connectivity, possibly in the face of disasters. Our main contribution is to utilize a database to store user locations in the system, and to provide ways to use that information to improve system effectiveness. This feature allows our system to remain effective in specific scenarios and tests, where other approaches fail

AFIT UAV Swarm Mission Planning and Simulation System

The purpose of this research is to design and implement a comprehensive mission planning system for swarms of autonomous aerial vehicles. The system integrates several problem domains including path planning, vehicle routing, and swarm behavior. The developed system consists of a parallel, multi-objective evolutionary algorithm-based path planner, a genetic algorithm-based vehicle router, and a parallel UAV swarm simulator. Each of the system\u27s three primary components are developed on AFIT\u27s Beowulf parallel computer clusters. Novel aspects of this research include: integrating terrain following technology into a swarm model as a means of detection avoidance, combining practical problems of path planning and routing into a comprehensive mission planning strategy, and the development of a swarm behavior model with path following capabilities