Smart Home Sensor Networks Pose Goal-Driven Solutions to Wireless Vacuum Systems
ICHIT '06 Proceedings of the 2006 International Conference on Hybrid Information Technology - Volume 02
Hacking Roomba: ExtremeTech
Pervasive pheromone-based interaction with RFID tags
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Evaluating Variable-Length Markov Chain Models for Analysis of User Web Navigation Sessions
IEEE Transactions on Knowledge and Data Engineering
Hi-index | 0.00 |
Robust, dependable and concise coordination between members of a robot team is a critical ingredient of any such collective activity. Depending on the availability and the characteristics of the particular communication infrastructure, coordination mechanisms can take varied forms, leading to distinct system behaviors. In this paper, we consider the case of robot teams operating within relatively sparse wireless sensor network deployments. We introduce Shared Memories, a trail-based coordination engine, that analyzes interaction patterns between participating team members and sensor network nodes capable to discover significant aggregate patterns, which are made available to the team. To this end, we propose a model for the representation of captured interactions and their sensory context developed as a probabilistic grammar, as well as associated metrics used to rank trails and quantify their significance. Such trails are used as the basis for coordinated operation in team tasks and are made available by the engine to all team members. Our implementation deploys ad-hoc wireless local networking capability available through surrogate devices to commodity robots and RFID proximity sensors. We report on the performance of this system in experiments conducted in a laboratory environment, which highlight the advantages and limitations of our approach.