Exploring An Unknown Graph By A Team Of Robots Using Serendipity Rendezvous Algorithms
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Exploring an Unknown Graph by a Team of Robots Using Serendipity Rendezvous Algorithms
Author: Hamido Hourani
language: en
Publisher: BoD – Books on Demand
Release Date: 2013-10-30
Dependence on a team of robots to carry out the exploration missions has many benefits such as speeding up the missions; provided that the coordination among robots is maintained. Many circumstances limit the communication which is crucial for the coordination among robots (e.g. impenetrable barriers, high temperature etc.). A periodic rendezvous strategy is considered in this dissertation a work-around in order to overlap communication ranges of the robots. Attending these periodic rendezvous sessions requires that the robots interrupt their current exploration progress periodically and traverse back to the rendezvous points (i.e. Interruptibility). During their trips to these points, they do not gain new knowledge since they cross already explored parts of the area. Therefore, using rendezvous strategies improves the team behaviour but has a negative impact on the time efficiency. Serendipity Rendezvous – the contribution of this dissertation - invests the dedicated time of Interruptibility trip in the inter-coordination among the robots by finding a serendipity path. This path is where the robot, which runs Serendipity Rendezvous, meets its colleagues accidentally on its way to the rendezvous point. The evaluation results show that Serendipity Rendezvous is able to mitigate the negative impact of Interruptibility while maintaining its positive impacts. Moreover, it provides a balance utilization of robots for the exploration activities. These results are achieved without affecting the already scheduled rendezvous. Hence, Serendipity Rendezvous optimizes periodic rendezvous sessions as long as the margin of the gaining knowledge by meeting other robots on the serendipity path is considered rewarded for the robots which run Serendipity Rendezvous.
Automation, Communication and Cybernetics in Science and Engineering 2013/2014
This book continues the tradition of its predecessors “Automation, Communication and Cybernetics in Science and Engineering 2009/2010 and 2011/2012” and includes a representative selection of scientific publications from researchers at the institute cluster IMA/ZLW & IfU. IMA - Institute of Information Management in Mechanical Engineering ZLW - Center for Learning and Knowledge Management IfU - Associated Institute for Management Cybernetics e.V. Faculty of Mechanical Engineering, RWTH Aachen University The book presents a range of innovative fields of application, including: cognitive systems, cyber-physical production systems, robotics, automation technology, machine learning, natural language processing, data mining, predictive data analytics, visual analytics, innovation and diversity management, demographic models, virtual and remote laboratories, virtual and augmented realities, multimedia learning environments, organizational development and management cybernetics. The contributions selected reflect the fundamental paradigm shift toward an increasingly interdisciplinary research world – which has always been both the basis and spirit of the institute cluster IMA/ZLW & IfU.
Interconnecting Smart Objects with IP
Author: Jean-Philippe Vasseur
language: en
Publisher: Morgan Kaufmann
Release Date: 2010-07-06
Interconnecting Smart Objects with IP: The Next Internet explains why the Internet Protocol (IP) has become the protocol of choice for smart object networks. IP has successfully demonstrated the ability to interconnect billions of digital systems on the global Internet and in private IP networks. Once smart objects can be easily interconnected, a whole new class of smart object systems can begin to evolve. The book discusses how IP-based smart object networks are being designed and deployed. The book is organized into three parts. Part 1 demonstrates why the IP architecture is well suited to smart object networks, in contrast to non-IP based sensor network or other proprietary systems that interconnect to IP networks (e.g. the public Internet of private IP networks) via hard-to-manage and expensive multi-protocol translation gateways that scale poorly. Part 2 examines protocols and algorithms, including smart objects and the low power link layers technologies used in these networks. Part 3 describes the following smart object network applications: smart grid, industrial automation, smart cities and urban networks, home automation, building automation, structural health monitoring, and container tracking. - Shows in detail how connecting smart objects impacts our lives with practical implementation examples and case studies - Provides an in depth understanding of the technological and architectural aspects underlying smart objects technology - Offers an in-depth examination of relevant IP protocols to build large scale smart object networks in support of a myriad of new services