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A mobile visual sensor network has a potential to create impacts in many applications in the society; however, it remains a challenge to keep the network lifetime as long as possible with limited onboard energy. Based on our previous work, mobility can be exploited to improve network lifetime significantly for data-intensive mobile sensor networks. In a visual sensor network, besides heavy data transmission,...
This paper presents an autonomous planning and control framework for humanoid robots to climb general ladder- and stair-like structures. The approach consists of two major components: 1) a multi-limbed locomotion planner that takes as input a ladder model and automatically generates a whole-body climbing trajectory that satisfies contact, collision, and torque limit constraints; 2) a compliance controller...
Estimating human poses is an important step towards developing robots that can understand human motion. Since a human is highly articulated, changing viewpoints of sensors on robots can improve the accuracy of human-pose estimation. We propose a two-phase approach that determines the best viewpoint of a depth sensor for human-pose estimation. The proposed approach measures the quality of potential...
This paper studies optimal control in a sensor network system consisting of mobile robots to minimize the overall energy consumption of the whole network. With communication energy cost and mobility energy cost taken into consideration, the problem is formulated as an optimal control of a hybrid system, which is solved by switched Linear Quadratic Regulator (LQR). Though switched LQR obtains globally...
The positions of mobile sensor nodes and the routing of sensing data to a base station for processing have major impact on the lifetime of a mobile sensor network. Based on our previous work on mobility for lifetime maximization, this paper investigates simultaneously designing mobility and routing strategies of robotic sensor nodes to improve the lifetime of a mobile sensor network. The network lifetime...
This paper investigates mobility strategies of mobile robots to improve the lifetime of a mobile sensor network with energy harvesting capability. The network lifetime problem is formulated as a nonlinear non-convex optimization problem, which is solved distributively by a series of convex approximations and a novel saddle-point computation algorithm. The convergence of the proposed method is guaranteed...
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