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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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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) • The goal is to minimize the cumulative alarm On Time across all alarms
The Main Achievements • Distributed In-Network Task Allocation
The Challenges • Tasks in the environment are geographically and temporally spread • Assign tasks to robots optimally in an online fashion
Conclusion • Convergence problem • Don’t care communication • No feedback, no control theory applied although we have actuation!