Dispersion of a swarm of robots based on realistic wireless intensity signals

Date

2007-11-09

Author

Ugur, Emre
Turgut, Ali Emre
Şahin, Erol

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

54
views

0
downloads

The problem of dispersion in multi-robot systems could be loosely defined as maximizing the sensor coverage area while preserving the connectivity within the swarm. Dispersion of robotic swarms appears to be applicable and useful in missions such as planetary exploration, hurricane surveillance, or nuclear decontamination, where the robots with maximal coverage collect samples from the unknown surface, detect the victims, or collect nuclear waste, respectively. In this paper, a simple dispersion algorithm based on wireless signal intensities is proposed and tested in a physics based simulator of a robotic platform which is particularly designed to serve as a test-bed for swarm-robotic studies. The signal intensities are realistically modeled using sampling technique, taking both the distance and relative orientations of the wireless sensors into account. The only parameter of the algorithm, a threshold parameter, is optimized in order to maximize the sensor coverage and minimize the number of disconnected robots.

Subject Keywords

Robot sensing systems, Wireless sensor networks, Testing, Multirobot systems, Sensor systems, Hurricanes, Surveillance, Decontamination, Radioactive pollution, Physics

URI

https://hdl.handle.net/11511/54698

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Immune system based distributed node and rate selection in wireless sensor networks Atakan, Baris; Akan, Ozguer B. (2006-12-13) Wireless sensor networks (WSNs) are event-based systems that rely on the collective effort of dense deployed sensor nodes. Due to the dense deployment, since sensor observations are spatially correlated with respect to spatial location of sensor nodes, it may not be necessary for every sensor node to transmit its data. Therefore, due to the resource constraints of sensor nodes it is needed to select the minimum number of sensor nodes to transmit the data to the sink. Furthermore, to achieve the application-...
Static range assignment in wireless sensor networks Uzun, Erkay; Yazıcı, Adnan; Department of Computer Engineering (2010) Energy is a limited source in wireless sensor networks and in most applications, it is non-renewable; so designing energy-effcient communication patterns is very important. In this thesis, we deﬁne the static range assignment (SRA) problem for wireless sensor networks, which focuses on providing the required connectivity in the network with minimum energy consumption. We propose minimum spanning tree based (MST), pruned minimum spanning tree based (MSTP) and shortest path incremental (SPI) algorithms as eff...
Path planning and localization for mobile anchor based wireless sensor networks Erdemir, Ecenaz; Tuncer, Temel Engin; Department of Electrical and Electronics Engineering (2017) In wireless sensor networks, sensors with limited resources are distributed in a wide area. Localizing the sensors is an important problem. Anchor nodes with known positions are used for sensor localization. A simple and efficient way of generating anchor nodes is to use mobile anchors which have built-in GPS units. In this thesis, a single mobile anchor is used to traverse the region of interest to communicate with the sensor nodes and identify their positions. Therefore planning the best trajectory for th...
Analysis and modeling of routing and security problems in wireless sensor networks with mathematical programming İncebacak, Davut; Baykal, Nazife; Bıçakcı, Kemal; Department of Information Systems (2013) Wireless Sensor Networks (WSNs) are composed of battery powered small sensor nodes with limited processing, memory and energy resources. Self organization property together with infrastructureless characteristics of WSNs make them favorable solutions for many applications. Algorithms and protocols developed for WSNs must consider the characteristics and constraints of WSNs but since battery replenishment is not possible or highly challenging for sensor nodes, one of the major concerns in designing network p...
Communication Coverage in Wireless Passive Sensor Networks Bereketli, Alper; Akan, Ozgur B. (2009-02-01) System lifetime of wireless sensor networks (WSN) is inversely proportional to the energy consumed by critically energy-constrained sensor nodes during RF transmission. In that regard, modulated backscattering (MB) is a promising design choice, in which sensor nodes send their data just by switching their antenna impedance and reflecting the incident signal coming from an RF source. Hence, wireless passive sensor networks (WPSN) designed to operate using MB do not have the lifetime constraints of convention...

Citation Formats

E. Ugur, A. E. Turgut, and E. Şahin, “Dispersion of a swarm of robots based on realistic wireless intensity signals,” 2007, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/54698.