Network Control of Cyber-Physical Systems (2016-2018)

2018-03-20 14:00 @LORIA

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Main Contribution

Network Control of Cyber-Physical Systems

Wireless Sensors and Robot Networks

Mobility Control and Consensus Control

Contributions 2016 - 2018

  • Controlled Mobility to optimize network performances
    • Path Planning in Wireless Sensor Networks
    • Sport-Event-Filming (SEF)
    • Environmental Monitoring
  • Distributed Networked Control (Computer Networks + Control)
    • Control of Consensus
  • Cosimulation/Emulation
    • Theoretical work
    • Software Implementation

Mobility Control

Controlled Mobility to Optimize Network Performances

Context

Mobility control of one or more robots

Both Centralized and Distributed

Applications

  • Data Relaying
    • Sport Events Filming (SEF)
  • Path Planning (1/2)
    • Network Epidemic Diffusion and Vulnerability Management
  • Path Planning (2/2)
    • Environmental Monitoring

Problem

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

Meta-heuristic for mobility control

  • Minimization of Healing Times for networks
    • Event Detection (Malware)
  • Area Search with networked elements
  • Improvement of QoS

Contributions

Limited SOTA

Minimization of Healing Times for networks

  • Minimization of Healing Times for networks
    • In-network-information-based metaheuristic (Epidemic Density Tracking)
Nicola Roberto Zema, Enrico Natalizio, Giuseppe Ruggeri, Michael Poss, Antonella Molinaro.
MeDrone: On the use of a medical drone to heal a sensor network infected by a malicious epidemic.
Ad Hoc Networks , 50, 115-127. Elsevier 2016.

Previous Work

Nicola Roberto Zema , Enrico Natalizio, Giuseppe Ruggeri, Michael Poss, Antonella Molinaro.
Healing wireless sensor networks from malicious epidemic diffusion.
2014 IEEE International Conference on Distributed Computing in Sensor Systems (DCOSS), 171-178, 2014 Marina Del Rey (United States). IEEE DCOSS 2014.

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

Drone image

Area Search with networked elements

  • Area Search with networked elements
    • Chemotaxis-based metaheuristic
    • Bio-Inspired approach
      • Bacteria Movement
Oscar Patricio Alvear, Nicola Roberto Zema , Enrico Natalizio, Carlos Tavares Calafate.
Using UAV-based systems to monitor air pollution in areas with poor accessibility.
Accepted for publication by: Special Issue in: Unmanned Aircraft System and its Applications in Transportation, Journal of Advanced Transportation. Wiley 2017 .

Oscar Patricio Alvear, Carlos Tavares Calafate, Nicola Roberto Zema , Enrico Natalizio, Enrique Hernandez-Orallo, Juan-Carlos Cano, Pietro Manzoni.
PDUC-D: A discretized UAV guidance system for air pollution monitoring tasks.
Accepted for EAI GOODTECHS 2017

Oscar Patricio Alvear, Nicola Roberto Zema , Enrico Natalizio , Carlos Tavares Calafate.
A chemotactic pollution-homing UAV guidance system.
Accepted to IEEE Wireless Communications and Mobile Computing IWCMC 2017 : Adv. Indust. Nets & Intelligent Systems-AINIS Symposium . IEEE IWCMC AINIS 2017.

Chemotaxis-based metaheuristic

Drone image
Drone image

Improvement of QoS

  • Optimization Model for upper-bound benchmark
    • Model: DVRP
    • Metaheuristic: Virtual Forces
* Luigi Di Puglia Pugliese, Francesca Guerriero, Enrico Natalizio, Nicola Roberto Zema .
A biobjective formulation for filming sport events problem using drones.
The 9th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications. IEEE IDAACS’2017.

Nicola Roberto Zema , Enrico Natalizio, Evsen Yanmaz.
An Unmanned Aerial Vehicle Network for Sport Event Filming with Communication Constraints.
First International Balkan Conference on Communications and Networking 2017. Tirana, Albania . BALKANCOM 2017.

Nicola Roberto Zema , Enrico Natalizio, Evsen Yanmaz.
Enregistrement d’événements sportifs par un réseau de drones avec des contraintes de communication.
Accepted to: 9ème Rencontres Francophones sur les Aspects Algorithmiques des Télécommunications. Quiberon (France). AlgoTel 2017.

Extra

Michal Krol, Enrico Natalizio, Nicola Roberto Zema .
Tag-based Data Exchange in Disaster Relief Scenarios.
Accepted at: IEEE 2017 International Conference on Computing, Networking and Communications (ICNC): Workshop WISARN , Silicon Valley (United States). IEEE ICNC 2017.

Optimization Model for upper-bound benchmark

DVRP and Virtual Forces

Drone image
Drone image

Future Works

Improve QoS of Data Flows

Consensus-based algorithms

Consensus Control

Distributed Networked Control Systems

Context

Robot Coordination for Mobility and Formation control

MeDrone

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
    • distriButed corrEctive conSenSus fanEt protocoL (BES²EL)
  • A Practical network protocol that is able to properly use the model
    • Second Order Corrective ConsEnsus algoRithm (SOC²ER)
Consenso

* Sabato Manfredi, Enrico Natalizio, Claudio Pascariello, Nicola Roberto Zema .
A Packet Loss Tolerant Rendezvous Algorithm for Wireless Networked Robot Systems.
Accepted for publication by Asian Journal of Control . Wiley 2017 .

Sabato Manfredi, Claudio Pascariello, Nicola Roberto Zema , Isabelle Fantoni, Michał Król.
A cooperative packet loss-tolerant algorithm for wireless networked robots rendezvous.
Accepted at: IEEE 2017 International Conference on Computing, Networking and Communications (ICNC): Workshop (ICNC'17 WS) , Silicon Valley (United States). IEEE ICNC 2017.

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

Merged Efforts: CUSCUS

Context

No integrated network-control simulation suites

Consenso

Problem

Integration of detailed control and networking aspects.

Consenso

Contributions

Co-simulation of Networked Robotics

New simulation environment

Consenso

Contributions

Nicola Roberto Zema , Angelo Trotta, Enrico Natalizio, Marco Di Felice, Luciano Bononi.
The CUSCUS simulator for Distributed Networked Control Systems: Architecture and Use-cases.
Published in the Special Issue on Ad Hoc Networks: “Advances in Wireless Communication and Networking for Cooperating Autonomous Systems”. Wiley 2017 .

Nicola Roberto Zema , Angelo Trotta, Guillaume Sanahuja, Enrico Natalizio, Marco Di Felice, Luciano Bononi.
CUSCUS: CommUnicationS-Control distribUted Simulator.
Accepted at: 14th Annual IEEE Consumer Communications & Networking Conference DEMO SESSION , Las Vegas (United States). IEEE CCNC 2017.

Nicola Roberto Zema , Angelo Trotta, Guillaume Sanahuja, Enrico Natalizio, Marco Di Felice, Luciano Bononi.
CUSCUS: An integrated simulation architecture for Distributed Networked Control Systems.
Accepted at: 14th Annual IEEE Consumer Communications & Networking Conference , Las Vegas (United States). IEEE CCNC 2017.

Project: BASCulE

Bio-inspired Approaches for wireleSs networked robot Control and CoopEration

NEXT : Context

Context

Divina image

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. 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 algorithms 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…

Conclusion