06421 Abstracts Collection -- Robot Navigation

From 15.10.06 to 20.10.06, the Dagstuhl Seminar 06421 ``Robot Navigation\u27\u27generate automatically was held in the International Conference and Research Center (IBFI), Schloss Dagstuhl. During the seminar, several participants presented their current research, and ongoing work and open problems were discussed. Abstracts of the presentations given during the seminar as well as abstracts of seminar results and ideas are put together in this paper. The first section describes the seminar topics and goals in general. Links to extended abstracts or full papers are provided, if available

A geometrical sink-based cooperative coverage hole recovery strategy for WSNs

© 2015 IEEE. Unlike sporadic node failures, coverage holes emerging from multiple temporally-correlated node failures can severely affect quality of service in a network and put the integrity of entire wireless sensor networks at risk. Conventional topology control schemes addressing such undesirable topological changes have usually overlooked the status of participating nodes in the recovery process with respect to the deployed sink node(s) in the network. In this paper, a cooperative coverage hole recovery model is proposed which utilises the simple geometrical procedure of circle inversion. In this model, autonomous nodes consider their distances to the deployed sink node(s) in addition to their local status, while relocating towards the coverage holes. By defining suitable metrics, the performance of our proposed model performance is compared with a force-based approach

Contribution au déploiement optimisé des réseaux de capteurs sans fil

National audienceLes réseaux de capteurs sans fil (RCSF) sont un domaine de recherche en évolution continue avec une multitude de contextes d'application. Le déploiement des noeuds capteurs est une phase décisive qui influe considérablement sur le fonctionnement et la performance du réseau. Dans ce papier, nous nous intéressons à étudier le positionnement et le placement des noeuds capteurs dans un RCSF. Nous présentons tout d'abord la problématique de déploiement et nous détaillons ensuite les travaux de recherche les plus récents qui concernent les méthodologies de résolution de cette problématique

Compact Modeling Technique for Outdoor Navigation

16 pages, 46 figures.In this paper, a new methodology to build compact local maps in real time for outdoor robot navigation is presented. The environment information is obtained from a 3-D scanner laser. The navigation model, which is called traversable region model, is based on a Voronoi diagram technique, but adapted to large outdoor environments. The model obtained with this methodology allows a definition of safe trajectories that depend on the robot's capabilities and the terrain properties, and it will represent, in a topogeometric way, the environment as local and global maps. The application presented is validated in real outdoor environments with the robot called GOLIAT.This work was supported by the Spanish Government through the MICYT project DPI2003-01170.Publicad