The Internet of Cooperative Agents Architecture (X-IoCA) for Robots, Hybrid Sensor Networks, and MEC Centers in Complex Environments: A Search and Rescue Case Study

Abstract

Cloud robotics and advanced communications can foster a step-change in cooperative robots and hybrid wireless sensor networks (H-WSN) for demanding environments (e.g., disaster response, mining, demolition, and nuclear sites) by enabling the timely sharing of data and computational resources between robot and human teams. However, the operational complexity of such multi-agent systems requires defining effective architectures, coping with implementation details, and testing in realistic deployments. This article proposes X-IoCA, an Internet of robotic things (IoRT) and communication architecture consisting of a hybrid and heterogeneous network of wireless transceivers (H2WTN), based on LoRa and BLE technologies, and a robot operating system (ROS) network. The IoRT is connected to a feedback information system (FIS) distributed among multi-access edge computing (MEC) centers. Furthermore, we present SAR-IoCA, an implementation of the architecture for search and rescue (SAR) integrated into a 5G network. The FIS for this application consists of an SAR-FIS (including a path planner for UGVs considering risks detected by a LoRa H-WSN) and an ROS-FIS (for real-time monitoring and processing of information published throughout the ROS network). Moreover, we discuss lessons learned from using SAR-IoCA in a realistic exercise where three UGVs, a UAV, and responders collaborated to rescue victims from a tunnel accessible through rough terrain.

Bluetooth Low Energy for Close Detection in Search and Rescue Missions With Robotic Platforms: An Experimental Evaluation

“…To do this, a path planner establishes its route according to a destination set by an operator located at a control center or due to the trigger of some event detected (with higher or lower priority) in some area of interest. The purpose of this paper is not to explain the importance of a strategic planner in SAR tasks, neither how it works [42], [43], but this resource developed and implemented by the Robotics and Mechatronics Lab [2] will be used, just like it would be in a realistic scenario.…”

“…To do this, all the SAR robotic agents should have Internet connectivity; 5G preferably in order to have low latencies in the robot control side. Finally, the RCCC could activate SAR agents to specific PoI using a SAR Feedback Information System (FIS) connected to the same MQTT broker [2], as can be done with other technologies such as LoRa [39]. Since both the position of the robot and the detection of the MACs of the BLE devices in the robot's environment would be available in real time, the MQTT broker would have all the necessary information to activate other agents to the new area of interest.…”

“…However, the problem is sometimes to deal with too much, not-so-relevant, data that may confuse rescuers with alerts which makes the use of available resources inefficient. Data acquisition can be done through wireless sensor networks (WSN), established in the areas of interest during a first phase of ground survey; or through the use of SAR agents (human and robotic) that act as carriers of IoT (Internet of Things) devices to capture information from the environment, while performing their SAR tasks [2]. The inclusion of unmanned ground and aerial vehicles, such as drones, and even ground and aerial robots facilitates SAR tasks, reduce the occupational stress that places human agents VOLUME 4, 2016 at higher risk of mental illness [3], and speeds up the process of finding a victim.…”

Realistic Deployment of Hybrid Wireless Sensor Networks Based on ZigBee and LoRa for Search and Rescue Applications

“…Each of the motors is controlled by an embedded board which integrates a microcontroller and an independent Hbridge power stage (see Table 1). Rambler follows a path planned and shown in a GUI developed by our research group [84], [85], which has been integrated with original software developments made for the H-WSNs experiments. The second most relevant vehicle is an 8x8 extreme terrain manned vehicle (see Figure 5) manufactured by Argo, the Argo XTI [86], with custom modifications, such as a thermal imaging camera and a LiDAR, to meet the needs of our research group.…”

An Edge-Fog Architecture for Distributed 3D Reconstruction and Remote Monitoring of a Power Plant Site in the Context of 5G

“…Some current applications take this concept to a more specific practical scenario. The authors in [49] propose a network called X-IoCA, an internet of robotic things. From the vast heterogeneity of IoT sensors and data types, along with devices at the edge and different protocols (BLE, Wi-Fi, Lora), the final network is integrated using 5G for fast message exchange between devices and users.…”