Tools and Techniques for Mobile Sensor Network Control

Abstract

This paper compares some of the common tools and techniques that enable state-of-the-art systems to provide high-level control of mobile sensor networks. There is currently a great deal of interest in employing unmanned and autonomous vehicles in intelligence, surveillance, and reconnaissance operations. Although this paper addresses issues common to all mobile sensor networks, the applications presented are typically associated with autonomous vehicles. We focus speciflcally on three high-level areas: I. mission deflnition languages that allow human users to compose missions deflned in terms of tasks, 2. communicationaddressing degradation and loss and relationship to underlying system architecture design, and 3. task allocation among the assets.

Rapid Information Transfer in Swarms Under Update-Rate-Bounds Using Delayed Self Reinforcement

“…where I i (k) is the information state for the ith individual in the swarm and different integers k represent the update time instants t k ¼ kd t (2) the fixed time interval between updates is d t , c is the alignment strength, and D i (k) is the average difference in the information between the individual and agents from the set of neighbors N i…”

“…The information-transfer speed across the network impacts the effectiveness of a network's response to external stimuli. Aligning with neighbors in a network can model a range of problems such as control of autonomous mobile agents [1], distributed sensing [2], and particle and flocking dynamics, e.g., see Refs. [3][4][5][6][7][8][9][10][11].…”

Towards probabilistic localization using airborne mobile anchors

“…Therefore, the estimate of ranging distance using RSSI is also a random variable. Tools and techniques used in mobile sensor network localization have been discussed in [3] and [4] including Gradient Descent and Multilateration algorithms. Here, two different approaches will be compared, referred to as Deterministic Multilateration (DML) and Probabilistic Gradient Descent (PGD).…”

Localization of wireless sensor networks using mobile anchor nodes

“…There are many different schemes for wireless localization, used over many decades for applications as diverse as aircraft navigation or finding a lost mobile phone. The appropriate tools and schemes used in mobile sensor network localization has been compared in [14]. Localization can be grouped into range-free and range-based schemes [15] as shown in figure 2.2.…”

“…For multilateration, gradient descent is used as optimisation technique to find the best estimate of location. Tools and techniques used in mobile sensor network localization are described in detail in [14] and [61] including Gradient Descent and Multilateration algorithms.…”