1 / 12

Gregory J. Barlow, Thomas C. Henderson, Andrew L. Nelson, and Edward Grant

Gregory J. Barlow, Thomas C. Henderson, Andrew L. Nelson, and Edward Grant North Carolina State University University of Utah. Dynamic Leadership Protocol for S-nets. Introduction. Distributed sensing is an alternative to using large amounts of on-board sensors on mobile robots

gilda
Download Presentation

Gregory J. Barlow, Thomas C. Henderson, Andrew L. Nelson, and Edward Grant

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Gregory J. Barlow, Thomas C. Henderson, Andrew L. Nelson, and Edward Grant North Carolina State University University of Utah Dynamic Leadership Protocol for S-nets

  2. Introduction • Distributed sensing is an alternative to using large amounts of on-board sensors on mobile robots • Smart sensor networks can be used for distributed sensing, communication, and computation • This work presents a leadership protocol that forms clusters in a smart sensor network for distributed sensing

  3. S-nets • S-element: a stationary agent capable of computation, communication, and sensing. S-elements have a limited communication range. • S-net: a network of spatially distributed S-elements. • S-cluster: a group of S-elements with one agent as the leader.

  4. Dynamic S-net Leadership Algorithm • The DSNL algorithm is a distributed algorithm run by each S-element • Each S-element must have a unique identification number • Our goal is to form S-clusters with one leader for each cluster • As S-elements are added to and removed from the S-net, clusters should update dynamically

  5. S-element State id_num unique ID number leader Boolean, whether node is a leader resolved Boolean, whether node is resolved nodelist list of all nodes in communication range remaining list of unresolved nodes cluster list of resolved nodes in the cluster lastcluster list of nodes in the cluster during the previous generation noncluster list of resolved nodes not in the cluster

  6. DSNL Algorithm Update lists of S-elements Resolve the node’s leadership status Resolve nodes in remaining Execute task code once resolved

  7. Objectives • The node that has the lowest ID number of all unresolved nodes in communication range should resolve as a leader • Any node that is in communication range of a leader should resolve as a follower • Every node should be a leader or a follower • When a follower is removed, its leader should remove it from cluster • When a node’s leader is removed, that node should re-resolve

  8. S-nets implementation in simulation

  9. S-nets implementation in simulation L = leader, F = follower

  10. S-net implementation using a robot colony

  11. S-nets implementation using 20 S-elements

  12. Conclusions • We developed a leadership protocol for S-nets that allows dynamic updating of clusters • We also developed an implementation of algorithm for embedded systems • We successfully tested the leadership protocol in simulation and on a colony of mobile robots

More Related