Toward controlling perturbations in robotic sensor networks

Ashis Gopal Banerjee; Saikat Ray Majumder

doi:10.1117/12.2057982

4 June 2014 Toward controlling perturbations in robotic sensor networks

Ashis Gopal Banerjee, Saikat Ray Majumder

Proceedings Volume 9116, Next-Generation Robots and Systems; 91160B (2014) https://doi.org/10.1117/12.2057982
Event: SPIE Sensing Technology + Applications, 2014, Baltimore, MD, United States

Abstract

Robotic sensor networks (RSNs), which consist of networks of sensors placed on mobile robots, are being increasingly used for environment monitoring applications. In particular, a lot of work has been done on simultaneous localization and mapping of the robots, and optimal sensor placement for environment state estimation¹. The deployment of RSNs, however, remains challenging in harsh environments where the RSNs have to deal with significant perturbations in the forms of wind gusts, turbulent water flows, sand storms, or blizzards that disrupt inter-robot communication and individual robot stability. Hence, there is a need to be able to control such perturbations and bring the networks to desirable states with stable nodes (robots) and minimal operational performance (environment sensing). Recent work has demonstrated the feasibility of controlling the non-linear dynamics in other communication networks like emergency management systems and power grids by introducing compensatory perturbations to restore network stability and operation². In this paper, we develop a computational framework to investigate the usefulness of this approach for RSNs in marine environments. Preliminary analysis shows promising performance and identifies bounds on the original perturbations within which it is possible to control the networks.

Citation Download Citation

Ashis Gopal Banerjee and Saikat Ray Majumder "Toward controlling perturbations in robotic sensor networks", Proc. SPIE 9116, Next-Generation Robots and Systems, 91160B (4 June 2014); https://doi.org/10.1117/12.2057982

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