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USC CSCI 599 - 24

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Distributed Sensing and Data Collection Via Broken Ad Hoc Wireless Connected Networks Mobile RobotsThe Author with LinuxBotOUTLINEINTRODUCTIONAd Hoc Network(MANET)Model Of Robot ConnectivitySlide 7AssumptionsSlide 9Test BedSpatial Distribution in Bounded RegionSimulation ResultsDiscussion and Future WorkFood For Thought??Slide 15Distributed Sensing and Data Collection Via Broken Ad Hoc Wireless Connected Networks Mobile RobotsBy Alan FT WinfieldPresented ByNavpreet BawaThe Author with LinuxBotOUTLINEIntroductionAd-Hoc NetworkModel ConnectivityAlgorithmSimulation ResultsDiscussion and Future WorkINTRODUCTIONProblem DefinitionDistributed Sensing, Data collection VIA mobile Ad Hoc N/wFormation of SubnetsScenario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 anotherWHY Ad Hoc Used?Position at t=0 and t=5 different, uncertainMedium of communication: BROADCASTModel Of Robot ConnectivityAlgorithm Used By the AuthorAssumptions Algorithm works well for applications whereMemory not a constraintEnough bandwidth availableIntermittent Loss of data :AllowedApplication not delay sensitive1230r1. All Nodes Sense data2. Every Node broadcasts data to neighbors & each neighbor broadcasts received data & its own data to its neighbors3. 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-versa4. Each robot’s data is marked with its IP, when 0 receives data from all robots then the sampling for that period is complete. 0 is pre-programmed to know all IP addresses before hand.Test BedSpatial Distribution in Bounded RegionSimulation ResultsDiscussion and Future WorkIssue : Buffer Memory Requirement : Unbounded MemoryStrategy : Circular BufferDisadvantage : Erasure of dataFood For Thought??When 2 robots in each others range Both transmit data to each other.. Result: Data corruption due to interference of Broadcast??Thank


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USC CSCI 599 - 24

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