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A Distributed Architecture for a Robotic Platform with Aerial Sensor Transportation and Self-Deployment Capabilities
"... This paper presents the architecture developed in the framework of the AWARE project for the autonomous distributed cooperation between unmanned aerial vehicles (UAVs), wireless sensor/actuator networks and ground camera networks. One of the main goals was the demonstration of useful actuation capab ..."
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This paper presents the architecture developed in the framework of the AWARE project for the autonomous distributed cooperation between unmanned aerial vehicles (UAVs), wireless sensor/actuator networks and ground camera networks. One of the main goals was the demonstration of useful actuation capabilities involving multiple ground and aerial robots in the context of civil applications. A novel characteristic is the demonstration in field experiments of the transportation and deployment of the same load with single/multiple autonomous aerial vehicles. The architecture is endowed with different modules that solve the usual problems that arise during the execution of multi-purpose missions, such as task allocation, conflict resolution, task decomposition and sensor data fusion. The approach had to satisfy two main requirements: robustness for the operation in disaster management scenarios and easy integration of different autonomous vehicles. The former specification led to a distributed design and the latter was tackled by imposing several requirements on the execution capabilities of the vehicles to be integrated in the platform. The full approach was validated in field experiments with different autonomous helicopters
Obstacle-Resistant Deployment Algorithms for Wireless Sensor Networks
"... Abstract—Node deployment is an important issue in wireless sensor networks (WSNs). Sensor nodes should be efficiently deployed in a predetermined region in a low-cost and highcoverage-quality manner. Random deployment is the simplest way to deploy sensor nodes but may cause unbalanced deployment and ..."
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Cited by 10 (0 self)
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Abstract—Node deployment is an important issue in wireless sensor networks (WSNs). Sensor nodes should be efficiently deployed in a predetermined region in a low-cost and highcoverage-quality manner. Random deployment is the simplest way to deploy sensor nodes but may cause unbalanced deployment and, therefore, increase hardware costs and create coverage holes. This paper presents the efficient obstacle-resistant robot deployment (ORRD) algorithm, which involves the design of a node placement policy, a serpentine movement policy, obstacle-handling rules, and boundary rules. By applying the proposed ORRD, the robot rapidly deploys a near-minimal number of sensor nodes to achieve full sensing coverage, even though there exist unpredicted obstacles with regular or irregular shapes. Performance results reveal that ORRD outperforms the existing robot deployment mechanism in terms of power conservation and obstacle resistance and, therefore, achieves better deployment performance. Index Terms—Deployment, obstacles, wireless sensor network (WSNs). I.
Ad-hoc wireless network coverage with networked robots that cannot localize
- in Proc. IEEE ICRA
, 2009
"... Abstract — We study a fully distributed, reactive algorithm for deployment and maintenance of a mobile communication backbone that provides an area around a network gateway with wireless network access for higher-level agents. Possible applica-tions of such a network are distributed sensor networks ..."
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Cited by 10 (1 self)
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Abstract — We study a fully distributed, reactive algorithm for deployment and maintenance of a mobile communication backbone that provides an area around a network gateway with wireless network access for higher-level agents. Possible applica-tions of such a network are distributed sensor networks as well as communication support for disaster or military operations. The algorithm has minimalist requirements on the individual robotic node and does not require any localization. This makes the proposed solution suitable for deployment of large numbers of comparably cheap mobile communication nodes and as a backup solution for more capable systems in GPS-denied environments. Robots keep exploring the configuration space by random walk and stop only if their current location satisfies user-specified constraints on connectivity (number of neighbors). Resulting deployments are robust and convergence is analyzed using both kinematic simulation with a simplified collision and communication model as well as a probabilistic macroscopic model. The approach is validated on a team of 9 iRobot Create robots carrying wireless access points in an indoor environment. I.
On Fast Exploration in 2D and 3D Terrains with Multiple Robots
"... We present a fast multi-robotic exploration methodology for 2D and 3D terrains. An asynchronous exploration strategy is introduced which shows significant improvements over the existing synchronous ones. A per-time visibility metric is being utilized by the algorithm. The metric allots the same weig ..."
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Cited by 7 (2 self)
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We present a fast multi-robotic exploration methodology for 2D and 3D terrains. An asynchronous exploration strategy is introduced which shows significant improvements over the existing synchronous ones. A per-time visibility metric is being utilized by the algorithm. The metric allots the same weight for points for next view whose visibility over time ratios are equal. The outcome of this is that while the number of points visited to explore a terrain is nearly the same as other popular metrics found in literature, the time length of the paths are smaller in this case resulting in reduced time exploration. The results have been verified through extensive simulations in 2D and 3D. In 2D multiple robots explore unknown terrains that are office like, cluttered, corridor like and various combinations of these. In 3D we consider the case of multiple UAVs exploring a terrain
1 Stochastic Modeling of the Expected Time to Search for an Intermittent Signal Source Under a Limited Sensing Range
"... Abstract—A mobile robot is deployed to search for a stationary target that intermittently emits short duration signals. The searching mission is accomplished as soon as the robot receives a signal from the target. However, the robot cannot perceive the signal unless the target is within its limited ..."
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Cited by 7 (3 self)
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Abstract—A mobile robot is deployed to search for a stationary target that intermittently emits short duration signals. The searching mission is accomplished as soon as the robot receives a signal from the target. However, the robot cannot perceive the signal unless the target is within its limited sensing range. Therefore, the time to search the target is inherently random and hence unknown despite its importance in many searching and rescue applications. Here we propose the expected searching time (EST) as a metric to evaluate different robot motion plans under different robot configurations. We derive a closed form solution for computing the EST. To illustrate the EST model, we present two case studies. In the first case, we analyze two common motion plans: a slap method and a random walk. The EST analysis shows that the slap method is asymptotically faster than the random walk when the searching space size increases. In the second case, we compare a team of n low-cost equallyconfigured robots with a super robot that has the sensing range equal to that of the summation of the n robots. The EST analysis shows that the low-cost robot team takes Θ(1/n) time and the super robot takes Θ(1 / √ n) time as n → ∞. In both cases, our EST model successfully demonstrates its ability in assessing the searching performance. The analytical results are also confirmed in simulation. I.
Scalable and Practical Pursuit-Evasion with Networked Robots
- JOURNAL OF INTELLIGENT SERVICE ROBOTICS SPECIAL ISSUE ON NETWORKED ROBOTS
"... In this paper, we consider the design and implementation of practical pursuit-evasion games with networked robots, where a communication network provides sensing-at-a-distance as well as a communication backbone that enables tighter coordination between pursuers. We first develop, using the theory o ..."
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Cited by 7 (0 self)
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In this paper, we consider the design and implementation of practical pursuit-evasion games with networked robots, where a communication network provides sensing-at-a-distance as well as a communication backbone that enables tighter coordination between pursuers. We first develop, using the theory of zero-sum games, an
Collaborative coverage using a swarm of networked miniature robots,
- Robotics & Autonomous Systems
, 2009
"... Abstract We study distributed coverage of environments with unknown extension using a team of networked miniature robots analytically and experimentally. Algorithms are analyzed by incrementally raising the abstraction level starting from physical robots, to realistic and discrete-event system (DES ..."
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Abstract We study distributed coverage of environments with unknown extension using a team of networked miniature robots analytically and experimentally. Algorithms are analyzed by incrementally raising the abstraction level starting from physical robots, to realistic and discrete-event system (DES) simulation. The realistic simulation is calibrated using sensor and actuator noise characteristics of the real platform and serves for calibration of the DES microscopic model. The proposed algorithm is robust to positional noise and communication loss, and its performance gracefully degrades for communication and localization failures to a lower bound, which is given by the performance of a non-coordinated, randomized solution. Results are validated by real robot experiments with miniature robots with a size smaller than 2cm x 2cm x 3cm in a boundary coverage case study. Trade-offs between the abilities of the individual platform, required communication, and algorithmic performance are discussed.
On the solvability of the mutual localization problem with anonymous position measures
- in 2010 IEEE Int. Conf. on Robotics and Automation
, 2010
"... Abstract — This paper formulates and investigates a novel ..."
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Cited by 5 (3 self)
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Abstract — This paper formulates and investigates a novel
