Download INTRODUCTION - University of Southern California

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
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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!!