MICAbot: a robotic platform for large-scale distributed robotics

McMickell, M.B.; Montestruque, Luis A.

doi:10.1109/robot.2003.1241823

Cited by 79 publications

(43 citation statements)

References 4 publications

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“…This paper essentially extends the previous work of one of the authors related to the properties of symmetric systems [9,7,8,10,11] to consider nonlinear system stability. The previous work cited considers system symmetries that are defined by a group action on the configuration manifold for a distributed system that was induced by the action of a permutation group.…”

Section: Introductionmentioning

confidence: 53%

“…Rather than using this prior approach, this paper will introduce a more straight-forward approach which is a nonlinear extension of the approach used in [1] and [14]. However, it is emphasized that the prior approaches [6,9,7,8,10,11] and [5] offer a general approach to the problem that can be used in cases more general than the ones addressed here.…”

Section: Introductionmentioning

confidence: 99%

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Multi-agent compositional stability exploiting system symmetries

Goodwine

Antsaklis

2013

Automatica

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This paper considers nonlinear symmetric control systems. By exploiting the symmetric structure of the system stability results are derived that are independent of the number of components in the system. This work contributes to the fields of research directed toward compositionality and composability of large-scale system in that a system can be "built-up" by adding components while maintaining system stability. The modeling framework developed in this paper is a generalization of many existing results which focus on interconnected systems with specific dynamics. The main utility of the stability result is one of scalability or compositionality. If the system is stable for a given number of components, under appropriate conditions stability is then guaranteed for a larger system composed of the same type of components which are interconnected in a manner consistent with the smaller system. The results are general and applicable to a wide class of problems. The examples in this paper focus on the formation control problems for multi-agent robotic systems.

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Section: Introductionmentioning

confidence: 53%

Section: Introductionmentioning

confidence: 99%

Multi-agent compositional stability exploiting system symmetries

Goodwine

Antsaklis

2013

Automatica

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“…For example, in [4], position is determined using an overhead camera system. In many instances, the cost of the camera system alone can be higher than the rest of the sensor network, making this localization approach undesirable.…”

Section: Related Workmentioning

confidence: 99%

“…However, these sensors are large, expensive, have considerable power requirements, and/or require a powerful computing platform to analyze sensor data. In recent years, mote-sized mobile sensor platforms have been developed that are unable to use traditional navigation methods because of their small size and limited resources [1], [2], [3], [4], [5]. This emerging class of mobile sensor would greatly benefit from navigation techniques geared towards resource-constrained devices.…”

Section: Introductionmentioning

confidence: 99%

Mobile Sensor Navigation Using Rapid RF-Based Angle of Arrival Localization

Amundson

Koutsoukos

Sallai

et al. 2011

2011 17th IEEE Real-Time and Embedded Technology and Applications Symposium

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Abstract-Over the past decade, wireless sensor networks have advanced in terms of hardware design, communication protocols, resource efficiency, and other aspects. Recently, there has been growing interest in mobile wireless sensor networks, and several small-profile sensing devices that are able to control their own movement have already been developed. Unfortunately, resource constraints inhibit the use of traditional navigation methods, because these typically require bulky, expensive, and sophisticated sensors, substantial memory and processor allocation, and a generous power supply. Therefore, alternative navigation techniques are required. In this paper we present TripNav, a localization and navigation system that is implemented entirely on resource-constrained wireless sensor nodes. Localization is realized using radio interferometric angle of arrival estimation, in which bearings to a mobile node from a small number of infrastructure nodes are estimated based on the observed phase differences of an RF interference signal. The position of the mobile node is then determined using triangulation. A digital compass is also employed to keep the mobile node from deviating from the desired trajectory. We demonstrate using a real-world implementation that a resource-constrained mobile sensor node can accurately perform waypoint navigation with an average position error of 0.95 m.

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“…Robotics Motion Planning: Motion planning has been studied in the robotics field [9], [8]. Coupling robotics and sensor networks concepts has also been studied [4], [2], [12]. These efforts study problems of sensors carried by robots, and the required modifications in robots mobility planning in order to support tasks of sensor networks.…”

Section: Related Workmentioning

confidence: 99%

Preferential field coverage through detour-based mobility coordination

Morcos

Bestavros

Matta

2010

2010 the 9th IFIP Annual Mediterranean Ad Hoc Networking Workshop (Med-Hoc-Net)

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Abstract-Controlling the mobility pattern of mobile nodes (e.g., robots) to monitor a given field is a well-studied problem in sensor networks. In this setup, absolute control over the nodes' mobility is assumed. Apart from the physical ones, no other constraints are imposed on planning mobility of these nodes. In this paper, we address a more general version of the problem. Specifically, we consider a setting in which mobility of each node is externally constrained by a schedule consisting of a list of locations that the node must visit at particular times. Typically, such schedules exhibit some level of slack, which could be leveraged to achieve a specific coverage distribution of a field. Such a distribution defines the relative importance of different field locations. We define the Constrained Mobility Coordination problem for Preferential Coverage (CMC-PC) as follows: given a field with a desired monitoring distribution, and a number of nodes n, each with its own schedule, we need to coordinate the mobility of the nodes in order to achieve the following two goals: 1) satisfy the schedules of all nodes, and 2) attain the required coverage of the given field. We show that the CMC-PC problem is NP-complete (by reduction to the Hamiltonian Cycle problem). Then we propose TFM, a distributed heuristic to achieve field coverage that is as close as possible to the required coverage distribution. We verify the premise of TFM using extensive simulations, as well as taxi logs from a major metropolitan area. We compare TFM to the random mobility strategy -the latter provides a lower bound on performance. Our results show that TFM is very successful in matching the required field coverage distribution, and that it provides, at least, two-fold query success ratio for queries that follow the target coverage distribution of the field.

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MICAbot: a robotic platform for large-scale distributed robotics

Cited by 79 publications

References 4 publications

Multi-agent compositional stability exploiting system symmetries

Multi-agent compositional stability exploiting system symmetries

Mobile Sensor Navigation Using Rapid RF-Based Angle of Arrival Localization

Preferential field coverage through detour-based mobility coordination

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