scholarly journals A Framework for Prototyping of Autonomous Multi-Robot Systems for Search, Rescue, and Reconnaissance

Robotics ◽  
2013 ◽  
pp. 112-142
Author(s):  
Sedat Dogru ◽  
Sebahattin Topal ◽  
Aydan M. Erkmen ◽  
Ismet Erkmen
Keyword(s):  
Wireless Sensor Networks ◽  
Sensor Networks ◽  
Search And Rescue ◽  
Wireless Sensor ◽  
Complex Environments ◽  
Robot Systems ◽  
Design Characteristics ◽  
Hardware Platforms ◽  
Connectivity Maintenance ◽  
Multi Robot

Robots consistently help humans in dangerous and complex tasks by providing information about, and executing tasks in disaster areas that are highly unstructured, uncertain, possibly hostile, and sometimes not reachable to humans directly. Prototyping autonomous multi-robot systems in disaster scenarios both as hardware platforms and software can provide foundational infrastructure in comparing performance of different methodologies developed for search, rescue, monitoring and reconnaissance. In this chapter, the authors discuss prototyping modules of heterogeneous multi-robot networks and their design characteristics for two different scenarios, namely Search and Rescue in unstructured complex environments, and connectivity maintenance in Sycophant Wireless Sensor Networks which are static ecto-parasitic clandestine sensor networks mounted incognito on mobile agents using only the agent’s mobility without intervention, and are cooperating with sparse mobile robot sensor networks.

A Framework for Prototyping of Autonomous Multi-Robot Systems for Search, Rescue, and Reconnaissance

2012 ◽  
pp. 407-437
Author(s):  
Sedat Dogru ◽  
Sebahattin Topal ◽  
Aydan M. Erkmen ◽  
Ismet Erkmen
Keyword(s):  
Wireless Sensor Networks ◽  
Sensor Networks ◽  
Search And Rescue ◽  
Wireless Sensor ◽  
Complex Environments ◽  
Robot Systems ◽  
Design Characteristics ◽  
Hardware Platforms ◽  
Connectivity Maintenance ◽  
Multi Robot

Robots consistently help humans in dangerous and complex tasks by providing information about, and executing tasks in disaster areas that are highly unstructured, uncertain, possibly hostile, and sometimes not reachable to humans directly. Prototyping autonomous multi-robot systems in disaster scenarios both as hardware platforms and software can provide foundational infrastructure in comparing performance of different methodologies developed for search, rescue, monitoring and reconnaissance. In this chapter, the authors discuss prototyping modules of heterogeneous multi-robot networks and their design characteristics for two different scenarios, namely Search and Rescue in unstructured complex environments, and connectivity maintenance in Sycophant Wireless Sensor Networks which are static ecto-parasitic clandestine sensor networks mounted incognito on mobile agents using only the agent’s mobility without intervention, and are cooperating with sparse mobile robot sensor networks.

Overview of Search and Rescue From Robotics to Wireless Sensors and Robots Networks

2019 ◽  
pp. 1212-1231
Author(s):  
Sarah Allali ◽  
Mahfoud Benchaïba
Keyword(s):  
Wireless Sensor Networks ◽  
Wireless Sensors ◽  
Search And Rescue ◽  
Wireless Sensor ◽  
Multiple Robots ◽  
Robot System ◽  
Research Challenges ◽  
Robot Systems ◽  
Rescue System ◽  
Multi Robot

In the recent years, many researchers have shown interest in developing search and rescue system composed of one or multiple robots, which have the mission of finding victims and identifying the potential hazards. To enhance the robotic systems there is a growing trend of integrating wireless sensor networks (WSNs) to robots and multi-robot systems, which gives more awareness of the environments. In the first part of this article, the authors present a review of robotic system and their environments in search and rescue systems. Additionally, they explain challenges related to these systems and tasks that a robot or a multi-robot system should execute to fulfil the search and rescue activities. As a second part, the authors expose the system that integrates WSNs with robots and the advantages that brings this latter. In addition, they cite tasks and missions that are achieved in a better way with a cooperation of WSN and robots. Furthermore, the authors expose and discuss the remarkable research, challenges and the open research challenges that includes this cooperation.

scholarly journals A Model-Based Approach for Adaptable Middleware Evolution in WSN Platforms

2021 ◽  
Vol 10 (1) ◽  
pp. 20
Author(s):  
Walter Tiberti ◽  
Dajana Cassioli ◽  
Antinisca Di Marco ◽  
Luigi Pomante ◽  
Marco Santic
Keyword(s):  
Wireless Sensor Networks ◽  
Sensor Networks ◽  
Embedded System ◽  
Operating Systems ◽  
Parallel Evolution ◽  
Wireless Sensor ◽  
New Techniques ◽  
Model Based ◽  
And Performance ◽  
Hardware Platforms

Advances in technology call for a parallel evolution in the software. New techniques are needed to support this dynamism, to track and guide its evolution process. This applies especially in the field of embedded systems, and certainly in Wireless Sensor Networks (WSNs), where hardware platforms and software environments change very quickly. Commonly, operating systems play a key role in the development process of any application. The most used operating system in WSNs is TinyOS, currently at its TinyOS 2.1.2 version. The evolution from TinyOS 1.x and TinyOS 2.x made the applications developed on TinyOS 1.x obsolete. In other words, these applications are not compatible out-of-the-box with TinyOS 2.x and require a porting action. In this paper, we discuss on the porting of embedded system (i.e., Wireless Sensor Networks) applications in response to operating systems’ evolution. In particular, using a model-based approach, we report the porting we did of Agilla, a Mobile-Agent Middleware (MAMW) for WSNs, on TinyOS 2.x, which we refer to as Agilla 2. We also provide a comparative analysis about the characteristics of Agilla 2 versus Agilla. The proposed Agilla 2 is compatible with TinyOS 2.x, has full capabilities and provides new features, as shown by the maintainability and performance measurement presented in this paper. An additional valuable result is the architectural modeling of Agilla and Agilla 2, missing before, which extends its documentation and improves its maintainability.

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