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. We devised three mechanisms: centralized, distributed and market-based algorithms, which were extensively evaluated under the Player/Stage simulator. Simulation results show that the centralized approach is the most likely solution able to maintain an efficient system cost.

Agile Deep Learning UAVs Operating in Smart Spaces: Collective Intelligence Versus “Mission-Impossible”

“…A system can use several strategies to support the missions. The basic options can be found in (Trigui et al 2012) which distinguishes a centralized strategy, a distributed strategy, and a market-based approach which is a trade-off between these two.…”

“…The centralized strategy, where one central component has control over the whole system, sounds like a reasonable solution when combining the multiple components with the help of a central Cloud Computing based solution. This strategy was also most time efficient in the simulations by (Trigui et al 2012) where a combination of mobile robots and a Wireless Sensor Network were used to optimize the capturing of intruders. However, it is noted in the paper that "[the simulation] did not take into consideration the communication delays and we provide insights only on the pure behavior of the coordination strategies independently from the communication.…”

Tradeoffs Among Delay, Energy and Accuracy of Data Aggregation for Multi-View Multi-Robot Sensor Networks

“…Due to its flexibility, operability, mobility and self-organization, the applications of MRSN has been increasing (Maxim & Gaurav, 2005), (Trigui S, et, al., 2012). Harsh environmental monitoring is the most popular application of MRSN, for example let wireless robots get into Amazon rainforests where it is very dangerous for human get inside or let them climb to Mount Everest where there is not enough Oxygen for human and covered by snow all over the mountain.…”

Energy Efficient MAC Protocols for Wireless Sensor Network: A Survey

“…Composition of a WSN is made up of the environment that is to be monitored, sensor nodes that are spatially and randomly deployed and the sink node, which is the main interface between the nodes and the user, as shown in Figure1 Figure 1: Wireless sensor network architecture WSN can be deployed for many applications ranging from agricultural [8] [9], environmental [10], healthcare delivery [11], military [12], security [13], surveillance [14] [15], home automation [16] and so forth. Smart home concept is also based on WSNs while sensor nodes can be implanted in the human body.…”