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Access provided by: anon Sign Out. Coordination in a multi-robot surveillance application using Wireless Sensor Networks Abstract: Cooperative robots and their integration with Wireless Sensor Networks WSNs is an expanding area that still deserves significant research efforts. This paper presents a multi-robot surveillance application supported by a WSN.

We investigate the problem of multi-robot coordination for target tracking and capturing.

One key distinction of our problem model is to consider a WSN that supports the mission of the multi-robot team. Simulation results show that the centralized approach is the most likely solution able to maintain an efficient system cost.

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Article :. The results of these experiments are presented in this paper. A fundamental problem in robotic applications is the localization of the robots. We consider the problem of global self-localization for a robotic platform with autonomous robots using signals of opportunity SOOP. We first give a brief overview of the state-of-the-art in robotic localization using SOOP, and then propose a scheme that requires minimal prior environmental information, no pre-configuration, and only loose synchronization between the robots.

The derivation is based on the received signal waveform, and allows us to analyze the contributions of various factors to the localization accuracy. The CRLB provides a valuable guideline for the design of a robotic platform in which a desired level of localization accuracy is to be achieved. We also analyze the distortions in the time difference of arrival and frequency difference of arrival measurements caused by different clock offsets and skews at the robots.

We propose a robust algorithm to estimate robot location and velocity, which mitigates the clock biases. Simulation results suggest that our proposed algorithm approaches the CRLB when clock skews have small standard deviations. In recent years wireless sensor networks WSNs are fast emerging as an important domain for both commercial and personal use.

The advancement in robotics has enabled exploring another domain in WSNs i. A MWSN consists of a collection of nodes that can move on their own and interact with the physical environment.

CONNECT : Control of Networked Cooperative Underwater Robots

Several applications demand the need for mobility in nodes which, in general are static. Due to the nature of deployment of the nodes coupled with their resource constraints, providing security to such MWSNs have gained a prime importance. Also, they can be deployed in physically inaccessible environment as well as critical areas, and therefore the need to make them secure is very important. Mobility of nodes in MWSNs makes them more vulnerable to attacks by adversaries.

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Many works have been conducted in recent past where various promising solutions have been provided for detecting the attack, diagnosing the adversary nodes, and nullifying their capabilities for further damage in MWSNs. To start with, this chapter presents the need for MWSNs followed by security objectives, key issues and inherent challenges faced by these networks.

Existing works dealing with basic security features and the different attacks faced by MWSNs are discussed. Finally, we give an insight into the possible directions for future work in securing MWSNs.

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Mobile robots inevitably require a wireless network for communication. Wireless mesh networks WMNs allow for increased flexibility and an easy integration of mobile robots.

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Hence, they are well suited for present and future cyber-physical industrial applications. The high dependability requirements of that application domain, however, issue particular challenges to the communication network, especially regarding the mobility of stations. In this chapter, we present various approaches and mechanisms to provide dependable communication for mobile robots in industrial WMNs. These comprise different cross-layer techniques to allow for seamless mobility and an admission control that explicitly considers station mobility to avoid network overload.

Evaluation results are gathered by both simulation and real-world experiments while case-studies supplement the results. The outcome is a network architecture that allows for seamless communication even for mission-critical applications on mobile robots. Given this proliferation, there is a need to minimize the computational capacity required without affecting the performance and safety of the applications.

These applications have stringent requirements on data freshness and completion time of the tasks. Our work studies one such safety-related application, Automatic Merge Control AMC , which ensures safe vehicle maneuver in the region where n roads intersect. As our contributions, we i propose three algorithms for AMC and analyze their behavior assuming single-lane roads and vehicles that allow AMC to control their behavior, ii enhance AMC to provide solution for multiple-lane road scenarios and also accommodate mixed traffic both AMC-controlled and human-driven vehicles , iii demonstrate how Dedicated Short Range Communication based wireless communication protocol can be leveraged for the development of AMC and iv present a real-time approach towards designing AMC by integrating mode-change and real-time repository concepts for reducing the processing requirements.

Simulations and a prototype implementation on robotic platforms demonstrate the advantages of our approach for constructing AMC systems.


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Mobile wireless sensor networks MWSNs , a special class of WSN in which one or more component of the network is mobile, have recently grown popularity. In MWSNs, mobility plays a key role in the operation of the sensor network. As a result mobility has become an important area of research for the WSN community in recent years. Several protocols and models have been proposed in the literature which target one or other aspects of MWSNs in order to improve the process of data collection and dissemination, the ultimate goal of any sensor network.

In order to develop novel and efficient techniques and protocols for mobile sensor networks we first need to have a clear understanding of the current state of the art solutions in this area.

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Therefore, in this chapter we present a survey on the recent advances of state of the art techniques in data collection in MWSNs. Title Cooperative Robots and Sensor Networks Publisher Springer International Publishing. Print ISBN Electronic ISBN