Toward Multi-Level Modeling of Robotic Sensor Networks: A Case Study in Acoustic Event Monitoring

Abstract

Abstract-Modeling and simulation can be powerful tools for analyzing multi-agent systems, such as networked robotic systems and sensor networks. In this paper, it is shown concretely how instances of both these elements fit into a general methodology for multi-level modeling, providing insight into system dynamics. Use of the resulting general framework is illustrated through application to a specific sample case study involving a robotic wireless sensor network engaged in an acoustic detection task. We then compare and contrast the resulting family of models, highlighting explicitly the trade-off between realism and simplicity.

Exploration of an incremental suite of microscopic models for acoustic event monitoring using a robotic sensor network

“…Transition probabilities for these Markov Chains (i.e. the probability of event arrival P e and the probability of message arrival P m ) can be calculated analytically from system parameters using the geometrical methods shown in [22]; and as before these calculations were also verified by comparison with the results of the real system and the other microscopic models. Fig.…”