Network Control of WSNRs

Main Contribution

Network Control of Wireless Sensors and Robot Networks

In-Network Mobility and Consensus Control

Contributions 2016 - 2018

• Controlled Mobility to optimize network performances
  • 8 Papers (6 Conferences and 2 Journals)
    • Path Planning in Wireless Sensor Networks (1 Conf + 1 Journal)
    • Sport-Event-Filming (SEF) (3 Conf)
    • Environmental Monitoring (2 Conf + 1 Journal)
• Distributed Networked Control
  • Computer Networks + Control (1 Conference and 1 Journal)
• Cosimulation/Emulation (2 Conferences and 1 Journal)
  • Theoretical work (Conference + Journal)
  • Software Implementation (Demo Paper + Software Forge)

Total: 13 Papers

Controlled Mobility to Optimize Network Performances

Context

Mobility control of one or more robots

Both Centralized and Distributed

Applications

• Data Relaying (SEF)
  • Filming and Entertainment
• Trajectory Definition (1/2)
  • Network Epidemic Diffusion and Vulnerability Management
• Trajectory Definition (2/2)
  • Environmental Monitoring

Problem

How to move one or more robots for a given objective or purpose

Focus: COMPUTER NETWORKS

Meta-heuristic for mobility control

• Minimization of Healing Times for networks
• Event Detection (Malware)
• Improvement of QoS

Contributions

Limited SOTA

• In-network-information-based metaheuristic (Epidemic Density Tracking)
• Chemotaxis-based metaheuristic
  • Bio-Inspired approach
    • Bacteria Movement
• Optimization Model for upper-bound benchmark
  • Model: DVRP
  • Metaheuristic: Virtual Forces

In-network-information-based metaheuristic (Epidemic Density Tracking)

Chemotaxis-based metaheuristic

DVRP and Virtual Forces

Optimization Model for upper-bound benchmark

Distributed Networked Control Systems

Context

Robot Coordination for Mobility and Formation control

Applications

• Exploration
• Search and Rescue
• Target Tracking
• Data Relaying
  • Simultaneous Localization and Mapping (SLAM)

Problem

Network Issues and Disruption heavily influences consensus reaching on current schemes

• Find a control-based solution that can also be distributely implemented network-wise.

Contribution

Two-pronged

• A Theoretical control model that considers network disruption (BES²EL)
• A Practical network protocol that is able to properly use the model (SOC²ER)

Future works

Closed-loop mobility control on consensus

• Attain a link between the mobility control and consensus control
• Mobility is subject AND object of control

Use consensus for Time Synchronization

Implement Distributed-TDMA on chains of robots

Improve QoS of Data Flows

For Controlled Mobility Consensus-based algorithms

1 Mobilità controllata per ottimizzare performances di rete x 8

Problema

Come muovere uno o più robot per un determinato scopo

• Niente nello stato dell'arte
• Metaeuristica per il controllo della mobilità `
  • Minimizzaione tempo di Healing Networks
  • Detection Events (Malware)
  • Improvement QoS (of)

Contributi

• Modello di Ottimizzaione per benchmark superiore
  • Metaueristica basata sulle informazioni di rete (Epidemic Density Tracking)
  • Metaueristica basata Chemotassi
    • bio-inspired approach
      • based on bacteria movements
  • Modello di ottimizzazione per benchmark superiore
    • Modello: DVRP
    • Metaeuristica: Virtual Forces

Lavori Futuri

Joinare col resto.

2 Dino (Distributed Networked Control Systems) x2

Contesto

• Coordinazione di Robot per
  • Mobility and Formation Control per
    • Exploration
    • Search & Rescue
    • Target Tracking
    • Data Relaying per
      • SLAM

Problema

Problemi sulla rete impattano troppo l'errore sul consenso per gli schemi attuali

• Trovare soluzione di controllo che sia adatta ad implementazione distribuita

Contributo

• Modello di controllo che tiene conto della rete (Teorico)
• Protocollo di rete per usare il modello propriamente (Pratico)

Lavori Futuri

• Mobilità per migliorare consenso guidato dal protocollo di rete
  • Link con mobilità controllata del primo blocco (rimpiazza contributo 1)
• Meccanismo utile per sincronizzare usando consenso correttivo (Altro obiettivo)
• Migliorare QoS flusso dati (sul contributo 2)

Joining Point: CUSCUS

Contesto

Mobility control di uno o più robot

• distribuito o centralizzato
• Per fare:
  • Relaying (SEF)
    • Application: Filming & Entertainment
  • Trajectory Definition
    • Application: Network Epidemic Diffusion Vulnerability Management
  • Trajectory Definition
    • Environmental Monitoring

Problema

Come muovere uno o più robot per un determinato scopo

• Niente nello stato dell'arte
• Metaeuristica per il controllo della mobilità `
  • Minimizzaione tempo di Healing Networks
  • Detection Events (Malware)
  • Improvement QoS (of)

Contributi

• Modello di Ottimizzaione per benchmark superiore
  • Metaueristica basata sulle informazioni di rete (Epidemic Density Tracking)
  • Metaueristica basata Chemotassi
    • bio-inspired approach
      • based on bacteria movements
  • Modello di ottimizzazione per benchmark superiore
    • Modello: DVRP
    • Metaeuristica: Virtual Forces

Lavori Futuri

Joinare col resto.

CUSCUS: CommUnicationS-Control distribUted Simulator

• No integrated network-control simulation suites
• New simulation environment
• Integration of detailed control and networking aspects.

Co-simulation of Networked Robotics

Logical Architecture

Network Architecture

Conclusion

Project: BASCulE

Bio-inspired Approaches for wireleSs networked robot Control and CoopEration

NEXT : Context

Context

QoS Control

Navigation de robots - commande - collecte de données

Large bande passante

Environnement terrestre, aérien et sous-marin

• SLAM
• Exploration
• Rescue
• Recovery

NEXT : Idea

Core Idea

Achieve Control of QoS

Closed Control loop over network primitives to have control over QoS.

Steps

1. Preliminary Steps
   • Controlled Mobility Through bio-inspired approaches
   • Distributed Networked Control via Mobility
2. True QoS Control

First Step

…to follow a completely distributed path to achieve Distributed Networked Control, where the network nodes will gather the necessary data to run their distributed algorighms only from their environment and process it through autonomic techniques.

Second Step

…by exploiting bio-inspired networking approach to Controlled Mobility and using Corrective Consensus to achieve the necessary data stability to run them, I envisage to achieve a set of scientific findings that bind together Networking and Control in a single framework…

NEXT : Main Contributions

Main Contributions

• Network-based Tracking
• Corrective Consensus
• Controlled Mobility Through bio-inspired approaches

Network-based Tracking (career start)

Event-density tracking and basic robot movements

• Track down network events based on density of signaling
• Multiple UAVs can follow diffusion dynamics
• Virus recovery of remote-to-access WSNs
• Epidemic Approaches and Data Fusion

Spin-off: Network Event Position Tracking

Next: Control/Robotics approach

Distributed Networked Control via Mobility

Introduction of Control and Robotics Topics

BES²EL and SOC²ER

• distriButed corrEctive conSenSus fanEt protocoL (BES²EL)
• Second Order Corrective ConsEnsus algoRithm (SOC²ER)

Corrective Consensus

• A novel algorithm and protocol
• Synchronization capabilities
• Formation control
• Consensus on inter-node distances

Corrective Consensus

Next: Controlled Mobility

Controlled Mobility Through bio-inspired approaches

Control of QoS and QoC

Sport Events Filming (SEF)

• Controlled mobility to allow High-bandwidth video streams
• Application:
  • Sport Events Filming
  • High bandwidth and QoS levels sharing SLAM video streams
• Optimized positioning and relaying via MM

• Robust meta-heuristic with Virtual Forces

  • PSO and Potential Wells

  

Next: CUSCUS

Joining Point: CUSCUS

CUSCUS: CommUnicationS-Control distribUted Simulator

• No integrated network-control simulation suites
• New simulation environment
• Integration of detailed control and networking aspects.

Co-simulation of Networked Robotics

Logical Architecture

Network Architecture

Conclusion