Toward multi-level modeling of robotic sensor networks: a case study in acoustic event monitoring

Authors:
Christopher M. Cianci;Thomas Lochmatter;Jim Pugh;Alcherio Martinoli
Affiliations:
École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland;École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland;École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland;École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
Venue:
Proceedings of the 1st international conference on Robot communication and coordination
Year:
2007

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Abstract

Modeling and simulation can be powerful tools for analyzing multi-agent systems, such as networked robotic systems and sensor networks. In this paper, it is shown concretely how instances of both these elements fit into a general methodology for multi-level modeling, providing insight into system dynamics. Use of the resulting general framework is illustrated through application to a specific sample case study involving a robotic wireless sensor network engaged in an acoustic detection task. We then compare and contrast the resulting family of models, highlighting explicitly the trade-off between realism and simplicity.