In this paper, we present the design of a networked robotic system capable of enhancing wireless communication capabilities. The core of the system is active antenna tracking with directional antennas. The proposed system is decentralized and consists mainly of a mobile robot system and a command center system. Each system is equipped with off-theshelf network devices such as antennas, access points (AP), and network switches. For directional antennas to be beneficial to our system, we propose a weighted centroid algorithm (WCA), which is a method for active antenna tracking and direction of arrival (DOA) estimation. Through extensive field experiments in different environments and with different antenna selections, such as omni-to-omni, omni-to-directional, directional-to-directional antennas, we demonstrate the feasibility of our proposed system. We expect that our system can be applied in a variety of rescue, surveillance, and emergency scenarios where high bandwidth and long distance communications are needed.
Growing population and shortage of land in urban areas led to development of tall buildings. Tall buildings have advantages and at the same time disadvantages. One of the disadvantages is that they are not fully safe in fire situations, because fire trucks cannot reach them. Fire danger can be prevented and eliminated if it is detected early. Implementing WSN (Wireless Sensor Network) and Big Data and collectingsending data to other members of Cooperative Fire Security System using Human Agent Robot Machine Sensor (CFS 2 H) messaging protocol establishes faster communication and collaboration among all the members of the whole system. The stationary WSN generates and analyzes the data and wirelessly communicates with other members of the system. Big Data is the central data manipulating center which communicates with all the system members and controls the whole system work. This paper presents detailed implementation and application of WSN and Big Data in cooperative firefighting system.
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