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The Analysis of an Efficient Algorithm for Robot Coverage and Exploration based on Sensor Network Deployment

The Analysis of an Efficient Algorithm for Robot Coverage an...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Batalin G.S. Sukhatme Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California Los Angeles CA USA

In this paper we present the design and theoretical analysis of a novel algorithm (LRV) that efficiently solves the problems of coverage, exploration and sensor network deployment at the same time. The basic premise behind the algorithm is that the robot carries network nodes as a payload, and in the process of moving around, emplaces the nodes into the environment based on certain local criteria. In turn, the nodes emit navigation directions for the robot as it goes by. Nodes recommend directions least recently visited by the robot, hence the name LRV. We formally establish the following two properties: 1. LRV is complete on graphs, and 2. LRV is optimal on trees. We present some experimental conjectures for LRV on regular square lattice graphs and compare its performance empirically to other graph exploration algorithms.

关键词： Algorithm design and analysis Robot sensing systems Sensor systems embedded system Payloads Navigation laboratories computer science Tree graphs Lattices

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Estimating clock uncertainty for efficient duty-cycling in sensor networks 05

Estimating clock uncertainty for efficient duty-cycling in s...

引用

3rd ACM International Conference on embedded Networked Sensor systems, SenSys 2005

作者： Ganeriwal, Saurabh Ganesan, Deepak Shim, Hohyun Tsiatsis, Vlasios Srivastava, Mani B. University of California Los Angeles Networked and Embedded Systems lab 56-125B EE-IV CA 90095 United States Department of Computer Science University of Massachusetts MA 01003 United States

ISBN: (纸本)159593054X

Radio duty cycling has received significant attention in sensor networking literature, particularly in the form of protocols for medium access control and topology management. While many protocols have claimed to achieve significant duty-cycling benefits in theory and simulation, these benefits have often not translated to practice. The dominant factor that prevents the optimal usage of the radio in real deployment settings is time uncertainty between sensor nodes. This paper proposes an uncertainty-driven approach to duty-cycling where a model of long-term clock drift is used to minimize the duty-cycling overhead. First, we use long-term empirical measurements to evaluate and analyze in-depth the interplay between three key parameters that influence long-term synchronization - synchronization rate, history of past synchronization beacons and the estimation scheme. Second, we use this measurement-based study to design a rate-adaptive, energy-efficient long-term time synchronization algorithm that can adapt to changing clock drift and environmental conditions while achieving application-specific precision with very high probability. Finally, we integrate our uncertainty-driven time synchronization scheme with a MAC layer protocol, BMAC, and empirically demonstrate one to two orders of magnitude reduction in the transmit energy consumption at a node with negligible impact on the packet loss rate. Categories and Subject Descriptors C.2.2 [computer systems Organization]: computer Communication Networks - Network Protocols. General Terms Algorithms, Experimentation, Performance, Verification. © 2005 ACM.

关键词： Synchronization

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Task allocation for event-aware spatiotemporal sampling of environmental variables

Task allocation for event-aware spatiotemporal sampling of e...

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： M.A. Batalin G.S. Sukhatme Yan Yu R. Pon J. Gordon M.H. Rahimi W.J. Kaiser G.J. Pottie D.E. Estrin Center for Robotics and Embedded Systems Robotic Embedded Systems Laboratory Computer Science Department University of Southern California Los Angeles CA USA Department of Computer Science Center for Embedded Networked Sensing University of California Los Angeles CA USA Department of Electrical Engineering Center for Embedded Networked Sensing University of California Los Angeles CA USA

Monitoring of environmental phenomena with embedded networked sensing confronts the challenges of both unpredictable variability in the spatial distribution of phenomena coupled with the demands for a high spatial sampling rate in three dimensions. For example, low distortion mapping of critical solar radiation properties in forest environments may require two-dimensional spatial sampling rates of greater than 10 samples/m/sup 2/ over transects exceeding 1000 m/sup 2/. Clearly, adequate sampling coverage of such transect requires an impractically large number of sensing nodes. A new approach, networked infomechanical system (NIMS), has been introduced to combine autonomous-articulated and static sensor nodes enabling sufficient spatiotemporal sampling density over large transects to meet a general set of environmental mapping demands. This paper describes our work on the critical parts of NIMS, the task allocation module. We present our methodologies and the two basic greedy task allocation policies - based on time of the task arrival (time policy) and distance from the robot to the task (distance policy). We present results from NIMS deployed in a forest reserve and from a lab testbed. The results show that both policies are adequate for the task of spatiotemporal sampling, but also complement each other. Finally, we suggest the future direction of research that would both help us better quantify the performance of our system and create more complex policies.

关键词： Spatiotemporal phenomena Sampling methods Sensor phenomena and characterization Solar radiation Mobile robots Atmospheric measurements Ecosystems Robot sensing systems embedded system computer science

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Capturing processor architectures from protocol processing applications: a case study

Capturing processor architectures from protocol processing a...

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Euromicro Symposium on Digital System Design

作者： S. Virtanen J. Paakkulainen T. Nurmi Department of Information Tehnology Embedded Systems Lab Turku Centre for Computer Science (TUCS) University of Turku Turku Finland Department of Information Tehnology University of Turku Turku Finland

We present a case study in finding optimized processor architectures for a given protocol processing application. The process involves application analysis, hardware/software partitioning and optimization, and evaluation of design quality through simulations, estimations and synthesis. The case study was targeted at processing key IPv6 routing functions at 200 MHz using 0.18 /spl mu/m CMOS technology. A comparison to an implementation on a commercial processor revealed that the captured architectures provided similar or better performance. Especially checksum calculation was efficient in the captured architectures.

关键词： Protocols computer architecture Application software CMOS technology Hardware Software quality Design optimization Analytical models Routing CMOS process

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A comparison of two camera configurations for optic-flow based navigation of a UAV through urban canyons

A comparison of two camera configurations for optic-flow bas...

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2004 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Hrabar, Stefan Sukhatme, Gaurav S. Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA United States

ISBN: (纸本)0780384636

We present a comparison of two camera configurations for avoiding obstacles in 3D-space using optic flow. The two configurations were developed for use on an autonomous helicopter, with the aim of enabling it to fly in environments with tall obstacles (e.g. urban canyons). The comparison is made based on real data captured from two sideways-looking cameras and an omnidirectional camera mounted onboard an autonomous helicopter. Optic flow information from the images is used to determine the relative distance to obstacles on each side of the helicopter. We show that on average, both camera configurations are equally effective and that they can be used to tell which of the canyon walls is closer with an accuracy of 74%. It is noted that each configuration is however more effective under certain conditions, and so a suitable hybrid approach is suggested. We also show that there is a linear relationship between the optic flow ratios and the position of the helicopter with respect to the center of the canyon. We use this relationship to develop a proportional control strategy for flying the helicopter along the Voronoi line between buildings.

关键词： Unmanned vehicles

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Online simultaneous localization and mapping in dynamic environments

Online simultaneous localization and mapping in dynamic envi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Wolf G.S. Sukhatme Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los Angeles CA USA

We propose an on-line algorithm for simultaneous localization and mapping of dynamic environments. Our algorithm is capable of differentiating static and dynamic parts of the environment and representing them appropriately on the map. Our approach is based on maintaining two occupancy grids. One grid models the static parts of the environment, and the other models the dynamic parts of the environment. The union of the two provides a complete description of the environment over time. We also maintain a third map containing information about static landmarks detected in the environment. These landmarks provide the robot with localization. Results in simulation and with physical robots show the efficiency of our approach and show how the differentiation of dynamic and static entities in the environment and SLAM can be mutually beneficial.

关键词： Simultaneous localization and mapping embedded system Mobile robots Object detection computer science Robot localization Testing Performance evaluation Bayesian methods

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Using a sensor network for distributed multi-robot task allocation

Using a sensor network for distributed multi-robot task allo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Batalin G.S. Sukhatme Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California Los Angeles CA USA

We present a multi field distributed in-network task allocation (DINTA-MF) algorithm for online multi-robot task allocation (OMRTA) where tasks are allocated explicitly to robots by a pre-deployed, static sensor network. The idea of DINTA-MF is to compute several assignment fields in the sensor network and then distributively assign fields to different robots. Experimental results with a simulated alarm scenario show that our approach is able to compute solutions to the OMRTA problem in a distributed fashion and arguably in an optimal way. We compared DINTA-MF with a simpler implementation (DINTA), which uses one assignment field. The data show that DINTA-MF outperforms DINTA as the number of robots increases.

关键词： Robot sensing systems Navigation computer networks Mobile robots embedded system Distributed computing Wireless sensor networks laboratories computer science Sensor systems

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Constrained coverage for mobile sensor networks

Constrained coverage for mobile sensor networks

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Poduri G.S. Sukhatme Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Department of Computer Science University of Southern California Los Angeles CA USA

We consider the problem of self-deployment of a mobile sensor network. We are interested in a deployment strategy that maximizes the area coverage of the network with the constraint that each of the nodes has at least K neighbors, where K is a user-specified parameter. We propose an algorithm based on artificial potential fields which is distributed, scalable and does not require a prior map of the environment. Simulations establish that the resulting networks have the required degree with a high probability, are well connected and achieve good coverage. We present analytical results for the coverage achievable by uniform random and symmetrically tiled network configurations and use these to evaluate the performance of our algorithm.

关键词： Mobile robots Sensor systems Robot sensing systems embedded system Taxonomy laboratories computer science Mobile computing Global Positioning System Fires

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A comparison of two camera configurations for optic-flow based navigation of a UAV through urban canyons

A comparison of two camera configurations for optic-flow bas...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： S. Hrabar G.S. Sukhatme Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA USA

关键词： Cameras Unmanned aerial vehicles Helicopters Robot vision systems Image motion analysis Testing Aircraft navigation Avatars embedded system laboratories

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Mobile robot navigation using a sensor network

Mobile robot navigation using a sensor network

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.A. Batalin G.S. Sukhatme M. Hattig Robotic Embedded Systems Laboratory Center for Robotics and Embedded Systems Computer Science Department University of Southern California Los Angeles CA USA Open Source Robotics Intel Corporation Hillsboro OR USA

We describe an algorithm for robot navigation using a sensor network embedded in the environment. Sensor nodes act as signposts for the robot to follow, thus obviating the need for a map or localization on the part of the robot. Navigation directions are computed within the network (not on the robot) using value iteration. Using small low-power radios, the robot communicates with nodes in the network locally, and makes navigation decisions based on which node it is near. An algorithm based on processing of radio signal strength data was developed so the robot could successfully decide which node neighborhood it belonged to. Extensive experiments with a robot and a sensor network confirm the validity of the approach.

关键词： Mobile robots Robot sensing systems Orbital robotics Radio navigation embedded system Sensor phenomena and characterization computer networks Motion planning State-space methods Mobile communication

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