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Distributed Sensing and Data Collection Via Broken Ad Hoc Wireless Connected Networks Mobile Robots By Alan FT Winfield Presented By Navpreet Bawa The Author with LinuxBot OUTLINE Introduction Ad-Hoc Network Model Connectivity Algorithm Simulation Results Discussion and Future Work INTRODUCTION Problem Definition Distributed Sensing, Data collection VIA mobile Ad Hoc N/w Formation of Subnets Scenario Bounded Region Finite Mobile Robots :random Transmission range ‘r’ Ad Hoc Network(MANET) What is Ad Hoc network? No fixed Network Infrastructure Nodes communicate without AP For Mobile: node in proximity of another WHY Ad Hoc Used? Position at t=0 and t=5 different, uncertain Medium of communication: BROADCAST Model Of Robot Connectivity Algorithm Used By the Author Assumptions Algorithm works well for applications where Memory not a constraint Enough bandwidth available Intermittent Loss of data :Allowed Application not delay sensitive 4. Each robot’s data is marked with its IP, when 0 receives data from all robots then the sampling for that period2. is Every complete. 0 is pre-programmed know all Node broadcasts datato to neighbors IP addresses before hand. & each neighbor broadcasts received data & its own data to its neighbors 1. All Nodes Sense data 0 2 3 1 r 3. Every time a robot detects another robot in range, then all data within its buffer is broadcast to the new neighbor and to its neighbors and vice-versa Test Bed Spatial Distribution in Bounded Region Simulation Results Discussion and Future Work Issue : Buffer Memory Requirement : Unbounded Memory Strategy : Circular Buffer Disadvantage : Erasure of data Food For Thought?? When 2 robots in each others range Both transmit data to each other.. Result: Data corruption due to interference of Broadcast?? Thank You!!