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This paper presents an adaptive sparse sampling approach and the corresponding real-time scalar field reconstruction method using mobile sensor networks. Traditionally, the sampling methods collect measurements without considering possible distributions of target signals. A feedback driven algorithm is discussed in this paper, where new measurements are determined based on the analysis of existing...
Swarm robots can assemble different structures to adapt to the changing environmnts. This video shows the newly proposed Sambot form different robotic structures to climp the obscales to finish a phototaxis task in two ways, inculduing simulation and hardware experiments. According to a general control framework for the swarm robots with self-assembly in real environments proposed by us, there are...
In this paper, we proposed a general control framework for the swarm robots with self-assembly in real environments. There are three tasks: exploration task, self-assembly task and locomotion task. At the start, the swarm robots explore the environment using their sensors and make decision to form some robotic structures to finish the task. Then the swarm robots execute the self-assembly task to construct...
This paper presents an adaptive sparse sampling approach based on mobile robotic sensors. Traditionally, the sampling methods collect measurements without considering possible distributions of target signals. In this paper a feedback driven algorithm is discussed, where new measurements are determined based on the analysis of existing observations under a sparse domain. More specifically, Wavelet...
The design and structure of a self-assembly modular robot (Sambot) are presented in this paper. Each module has its own autonomous mobility and can connect with other modules to form robotic structures with different manipulation abilities. Sambot has a versatile, robust, and flexible structure. The computing platform provided for each module is distributed and consists of a number of interlinked...
This paper presents a comprehensive metric to evaluate the link quality for the distributed control of robotic swarms to maintain the communication links. The mobile robots dynamically reconfigure themselves to maintain reliable end-to-end communication links. Such applications require online measurements of communication link quality in real-time and require a connection between link quality and...
Tracking in sensor networks has shown great potentials in many real world surveillance and emergency system. Due to the distributive nature and unpredictable topology structure of the randomly distributed sensor network, a good tracking algorithm must be able to aggregate large amounts of data from various unknown sources. In this paper, a distributive tracking algorithm is developed using a Markov...
This paper presents a novel approach, compressive mobile sensing, to use mobile sensors to sample and reconstruct sensing fields based on compressive sensing. Compressive sensing is an emerging research field based on the fact that a small number of linear measurements can recover a sparse signal without losing any useful information. Using compressive sensing, the signal can be recovered by a sampling...
The estimation of communication links quality plays a critical role not only in sensor network routing protocol, but also in maintaining the sensor network. By evaluating the estimation, when identify some failures occurrence, mobile robots can be deployed to automatically move to the region to cover communication gaps. This paper presents a comprehensive metric to evaluate the links quality and the...
Recent advancement in sensor networks provides a platform for applications that requires in-network data fusion and parallel algorithms. However, processing data in parallel while propagating at low latency is very challenging. Also, implementation of these algorithms is limited by various constraints including energy, computation costs and complex network topology. In this paper, a statistical graphical...
This paper introduces a novel distributed algorithm for deploying multi-robot systems, consisting of mobile robots with limited onboard sensing and wireless communication ranges, to approach the desired sensory coverage over targeted environments while maintaining communication connections. A virtual potential energy is defined for each mobile robot according to the difference between the actual and...
This paper presents a navigation and mapping technique that integrates the global view of a wireless sensor network and the local advance sensing of mobile robots. Search and rescue missions rely on robots that can successfully navigate through an indoor environment which may be undefined and filled with unpredictable obstacles. The onboard sensors and local navigation schemes can provide obstacle...
An algorithm of localization for hybrid sensor networks is proposed in this paper. It is designed to be used in the unknown indoor environments. Received signal strength indicator is used to evaluate the distance between mobile node and static nodes. Mobile node takes a random walk and emits signal packets including its positional information. The static nodes can improve its positional precision...
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