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

A mosaic of eyes

Autonomous navigation is a traditional research topic in intelligent robotics and vehicles, which requires a robot to perceive its environment through onboard sensors such as cameras or laser scanners, to enable it to drive to its goal. Most research to date has focused on the development of a large and smart brain to gain autonomous capability for robots. There are three fundamental questions to be answered by an autonomous mobile robot: 1) Where am I going? 2) Where am I? and 3) How do I get there? To answer these basic questions, a robot requires a massive spatial memory and considerable computational resources to accomplish perception, localization, path planning, and control. It is not yet possible to deliver the centralized intelligence required for our real-life applications, such as autonomous ground vehicles and wheelchairs in care centers. In fact, most autonomous robots try to mimic how humans navigate, interpreting images taken by cameras and then taking decisions accordingly. They may encounter the following difficulties

Task-level robot programming: Integral part of evolution from teleoperation to autonomy

An explanation is presented of task-level robot programming and of how it differs from the usual interpretation of task planning for robotics. Most importantly, it is argued that the physical and mathematical basis of task-level robot programming provides inherently greater reliability than efforts to apply better known concepts from artificial intelligence (AI) to autonomous robotics. Finally, an architecture is presented that allows the integration of task-level robot programming within an evolutionary, redundant, and multi-modal framework that spans teleoperation to autonomy

Informative Path Planning for Active Field Mapping under Localization Uncertainty

Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose uncertainty, which is an implicit requirement for creating robust, high-quality maps. To address this issue, we introduce an informative planning framework for active mapping that explicitly accounts for the pose uncertainty in both the mapping and planning tasks. Our strategy exploits a Gaussian Process (GP) model to capture a target environmental field given the uncertainty on its inputs. For planning, we formulate a new utility function that couples the localization and field mapping objectives in GP-based mapping scenarios in a principled way, without relying on any manually tuned parameters. Extensive simulations show that our approach outperforms existing strategies, with reductions in mean pose uncertainty and map error. We also present a proof of concept in an indoor temperature mapping scenario.Comment: 8 pages, 7 figures, submission (revised) to Robotics & Automation Letters (and IEEE International Conference on Robotics and Automation

Multi-criteria Evolution of Neural Network Topologies: Balancing Experience and Performance in Autonomous Systems

Majority of Artificial Neural Network (ANN) implementations in autonomous systems use a fixed/user-prescribed network topology, leading to sub-optimal performance and low portability. The existing neuro-evolution of augmenting topology or NEAT paradigm offers a powerful alternative by allowing the network topology and the connection weights to be simultaneously optimized through an evolutionary process. However, most NEAT implementations allow the consideration of only a single objective. There also persists the question of how to tractably introduce topological diversification that mitigates overfitting to training scenarios. To address these gaps, this paper develops a multi-objective neuro-evolution algorithm. While adopting the basic elements of NEAT, important modifications are made to the selection, speciation, and mutation processes. With the backdrop of small-robot path-planning applications, an experience-gain criterion is derived to encapsulate the amount of diverse local environment encountered by the system. This criterion facilitates the evolution of genes that support exploration, thereby seeking to generalize from a smaller set of mission scenarios than possible with performance maximization alone. The effectiveness of the single-objective (optimizing performance) and the multi-objective (optimizing performance and experience-gain) neuro-evolution approaches are evaluated on two different small-robot cases, with ANNs obtained by the multi-objective optimization observed to provide superior performance in unseen scenarios