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788.11J Presentation “ Robot Navigation using a Sensor Network ”

Presented by Hui Cao. 788.11J Presentation “ Robot Navigation using a Sensor Network ”. CENS USC. The Main Idea. Mobile robots used in sensor networks The network: the communication, sensing and computation The robots: actuation (mobility)

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788.11J Presentation “ Robot Navigation using a Sensor Network ”

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  1. Presented by Hui Cao 788.11J Presentation“Robot Navigation using a Sensor Network” CENS USC

  2. The Main Idea • Mobile robots used in sensor networks • The network: the communication, sensing and computation • The robots: actuation (mobility) • The goal is to minimize the cumulative alarm On Time across all alarms

  3. The Main Achievements • Distributed In-Network Task Allocation

  4. The Challenges • Tasks in the environment are geographically and temporally spread • Assign tasks to robots optimally in an online fashion

  5. Pictures

  6. Conclusion • Convergence problem • Don’t care communication • No feedback, no control theory applied although we have actuation!

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