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In this paper, we consider a scenario where a mobile robot is tasked with periodically collecting data from a fixed wireless-sensor network. Our goal is to minimize the total cost of the system, including the motion cost of the robot and the communication cost of the sensors to the robot in realistic fading environments. We propose a strategy that divides the sensors into a number of clusters and...
Real-time target search path planning is a ubiquitous problem present in various areas such as search and rescue, military, and security. In this paper, we consider a search for a static target and a moving target in an unknown environment full of obstacles. The knowledge of target location or direction is obtained by time sets recorded by each sensor node to specify the time instances that the target...
With improvement in the quality of people's life and the change of their lifestyle, the demand for intelligent water dispensers is increased. This study, therefore, proposes to de-sign a service robot that can not only move autonomously but also serve people intelligently. In this paper, a solution to de-sign an intelligent water-dispensing service robot is proposed. A new integrated system architecture...
Remote environmental monitoring is one of the important applications of wireless sensor networking technology where spatially distributed sensor nodes are used to monitor environmental parameters and collaboratively transmit their data through the network. This paper discusses the design of a multi robotic platform within a hybrid wireless sensor network to monitor the environmental changes. The system...
Over the past decade, wireless sensor networks have advanced in terms of hardware design, communication protocols, resource efficiency, and other aspects. Recently, there has been growing interest in mobile wireless sensor networks, and several small-profile sensing devices that are able to control their own movement have already been developed. Unfortunately, resource constraints inhibit the use...
Many indoor, mobile robot applications require relatively high levels of speed and precision during navigation. Often times, these properties are a trade-off with some sensors losing reliability when the robot moves at higher speeds. In this paper, we present a useful and practical system that combines a wireless sensor network with a passive radio frequency identification system (RFID). The sensor...
Target tracking problems have been extensively studied for both robots and sensor networks. In this paper, we consider a target tracking problem in which a sensorless tracking robot must maintain close proximity to an unpredictably moving target. To assist the robot, a network of sensor nodes, each equipped with a binary proximity sensor, is spread through the environment. This architecture has the...
Localization is a fundamental service required by many wireless sensor network applications. We consider a distributed, probabilistic approach, suitable for outdoor systems with inaccurate range measurements. The approach restricts the possible locations of the nodes by using measurements with a mobile robot known its position and neighboring nodes location estimate. We design a two stages distributed...
This paper brings forward a novel hardware structure system for localization and pose tracking of an Autonomous Mobile Robot (AMR). The system consists of a CPU and four Wireless Sensor Nodes (WSN), i.e. two ultrasonic transmitter nodes and two ultrasonic receiver nodes. Four ultrasonic time-of-flight (TOF) measurements together with the velocity information of an AMR are used to update the AMR's...
The Wireless Sensor and Actuator Networks (WSAN's), defines collaborative operations between the sensors and the actuators, enabling distributed sensing of a physical phenomenon. In this paper, an integrated testbed consisted of wireless sensor network, server station and robot system is proposed. Our main contribution is in the design and development of the server and actuator tier software modules...
The quality of coverage achieved by mobile sensors depends on the velocity, mobility pattern, number of mobile sensors deployed and the dynamics of the phenomenon being sensed. The gains attained by mobile sensors over static sensors and the optimal motion strategies for mobile sensors are not well understood. In this paper we consider the following event capture problem: The events of interest arrive...
We present Sensei-UU, a testbed that supports mobile sensor nodes. The design objectives are to provide wireless sensor network (WSN) experiments with repeatable mobility and to be able to use the same testbed at different locations, including the target location. The testbed is inexpensive, expandable, relocatable and it is possible to reproduce it by other researchers. Mobile sensor nodes are carried...
In this paper, we propose an approach for estimating a location of moving-target over a sensor field via distributed IMM estimator with multiple pseudo measurements using trilateration positioning algorithm. Pseudo measurement which indirectly measures the position of target is defined by results of trilateration positioning coordinates. As a single node only can measure the distance to the target...
This paper studies a distributed path planning problem: how can a sensor network help to navigate a robot to its desired goal in a distributed manner. We consider the case where each sensor node is equipped with sophisticated sensors capable of giving a map for its sensing region. We propose a distributed sampling based planning framework (Distributed PRM), where every sensor node creates a local...
A novel artificial-potential function approach is presented for planning the paths of distributed sensor networks in a complex dynamic environment. The approach implements a novel potential function generated from a probability density function (PDF) parameterized by an adaptive Gaussian mixture that is optimized to meet network-level objectives, such as cooperative track detection. The PDF represents...
This paper studies the mobile robot tracking problem in a wireless sensor network consisting of several sensor nodes collecting sensor information and transmitting data packets in order to determine a mobile robot's location at real-time. This paper proposed an intrusion detection algorithm based on collecting light signal and a counter-based routing protocol integrated with Automatic Repeat reQuest...
Today, most autonomous mobile robots rely on centralized perception and processing. They are, however, facing difficulties to be reliable and efficient due to uncertainties introduced from dynamic environments. In this paper, an intelligent environment with distributed visual sensors to support navigation and control of mobile robots, wireless mosaic eyes, is reported. The distributed visual sensors...
Reliable navigation in the Wireless Sensor Networks (WSNs) always require mobile robot do localization and environment map building processes, which depends heavily on estimating the position of the features within the entire surroundings, that means as a sensor receiving platform, the robot needs to detect and process information transmitted from sensors as much as possible, in order to perform tasks...
Localization helps robots to navigate and plan its path. The outdoor localization systems fail in localization of indoor applications because of indoor environment and inability of radio frequency signals from GPS satellites, which are difficult to penetrate the walls. The objective of this paper is to solve the problem of indoor localization of Pioneer robots using simple, cheap nodes which act as...
Generally self-organization of the active sensor networks is moving a collection of robots from an area to desired area. When the robots reach the designated area in a network with a topological structure different from the desired one, reconfiguration of the sensor network must be performed by changing the topological structure. During the reconfiguration process, we need to ensure that each robot...
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