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Distributed Algorithms for Guiding Navigation across a Sensor Network

Distributed Algorithms for Guiding Navigation across a Sensor Network. Qun Li, Michael De Rosa, and Daniela Rus Mobicom 2003. Outline. Introduction A distributed algorithm for guiding the navigation of a user Implementation Issues Experiments Conclusion. Introduction.

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Distributed Algorithms for Guiding Navigation across a Sensor Network

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  1. Distributed Algorithms for Guiding Navigation across aSensor Network Qun Li, Michael De Rosa, and Daniela Rus Mobicom 2003

  2. Outline • Introduction • A distributed algorithm for guiding the navigation of a user • Implementation Issues • Experiments • Conclusion

  3. Introduction • To create more versatile information systems • Adaptive distributed sensor networks • Hundreds of small sensors • Some limited memory and processing capabilities • Communication capabilities • Multiple sensing capabilities • To guide the movement of a user • Human • Robot

  4. Introduction (cont.) • Danger detected by the sensors • Danger zone • Safest path • With the largest clearance of the danger zones

  5. Danger zone Danger zone Introduction (cont.) Goal Sensor network

  6. A distributed algorithm for guiding the navigation of a user • Algorithm 1 • The potential field computation protocol • Pot(i ) • Pot(i)= 1 / hop(j)2 , j : danger • Algorithm 2 • The safest path to goal computation protocol • Algorithm 3 • The navigation guiding protocol

  7. A distributed algorithm for guiding the navigation of a user (cont.)

  8. A distributed algorithm for guiding the navigation of a user (cont.)

  9. A distributed algorithm for guiding the navigation of a user (cont.)

  10. A distributed algorithm for guiding the navigation of a user (cont.) • Algorithm 1 F Message(A, 1,) B H G A A C D Pot(b)=1 E Pot(B)= 1 / 12 = 1

  11. A distributed algorithm for guiding the navigation of a user (cont.) • Algorithm 1 F Message (A, 2) B H G A A C D Pot(b)=1 Pot(c)=0.25 E Pot(C)= 1 / 22 = 0.25

  12. A distributed algorithm for guiding the navigation of a user (cont.) • Algorithm 1 F Message (D, 1) B H G A A C D Pot(b)= 1+0.25=1.25 Pot(c)=0.25+1=1.25 E

  13. (Goal ID, My ID, hops, potential) M, M, 0, 0 A distributed algorithm for guiding the navigation of a user (cont.) • Algorithm 2 Goal 0.1511 0.125 1.0204 0.2777 0.1511 A E I M Q Danger zone 1.04 0.3125 0.2222 0.3125 B F J N R 0.3125 1.04 0.3125 0.2222 1.04 C G K O S 0.3125 0.2222 0.3125 1.04 D H L P T Danger zone

  14. A distributed algorithm for guiding the navigation of a user (cont.) (Goal ID, My ID, hops, potential) • Algorithm 2 M, M, 0, 0 Goal 0.1511 0.125 1.0204 0.2777 0.1511 A E I M Q Danger zone 1.04 0.3125 0.2222 0.3125 B F J N R 0.3125 1.04 0.3125 0.2222 1.04 C G K O S 0.3125 0.2222 0.3125 1.04 D H L P T Danger zone

  15. A distributed algorithm for guiding the navigation of a user (cont.) (Goal ID, My ID, hops, potential) • Algorithm 2 M, M, 0, 0 Goal 0.1511 0.125 1.0204 0.2777 0.1511 A E I M Q M, I, 1, 0.1511 Danger zone 1.04 0.3125 0.2222 0.3125 B F J N R M, N, 1, 0.222 0.3125 1.04 0.3125 0.2222 1.04 C G K O S 0.3125 0.2222 0.3125 1.04 D H L P T Danger zone

  16. A distributed algorithm for guiding the navigation of a user (cont.) (Goal ID, My ID, hops, potential) • Algorithm 2 M, M, 0, 0 Goal 0.1511 0.125 1.0204 0.2777 0.1511 A E I M Q Danger zone 1.04 0.3125 0.2222 0.3125 B F J N R 0.3125 1.04 0.3125 0.2222 1.04 C G K O S 0.3125 0.2222 0.3125 1.04 D H L P T Danger zone

  17. A distributed algorithm for guiding the navigation of a user (cont.) • Algorithm 3 Goal A E I M Q Danger zone B F J N R C G K O S {M} D H L P T Danger zone

  18. A distributed algorithm for guiding the navigation of a user (cont.) • Algorithm 3 Goal A E I M Q Danger zone B F J N R C G K O S {M, G, 3, 0.6858, K } {M, L, 3, 0.6858, K } {M, H, 5, 1.2205, H} D H L P T Danger zone

  19. A distributed algorithm for guiding the navigation of a user (cont.) • Algorithm 3 Goal A E I M Q Danger zone B F J N R C G K O S D H L P T Danger zone

  20. Implementation Issues • Only choice high frequency link (1/5) • Wait some time to reduced broadcast • Random waiting time

  21. Implementation Issues

  22. Experiments • Mote MOT300 sensor

  23. Experiments(cont.) 7 X 7 grid network hops

  24. Experiments(cont.) Eight different Network topologies 54 experiments worst average optimal

  25. Experiments(cont.)

  26. Experiments(cont.)

  27. Experiments(cont.) Danger zone goal

  28. Experiments(cont.) Near obstacle Near source

  29. Experiments(cont.)

  30. Conclusion • Using the sensor network to guide the movement of a user • Danger zones • Safe path

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