Robotic Routers tmp

Tekdas — Fri, 20 Nov 2009 21:35:27 GMT

Robotic Routers:

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=Robotic Routers=
The traditional approach to provide network connectivity is to deploy a network of stationary wireless routers which covers the entire area of interest. We can use the mobility and communication capabilities of mobile robots to provide appealing solutions where stationary networks might be costly if not infeasible.

One such scenario is when the user who requests connectivity service is a mobile entity (e.g. a human, a robot). Robotic routers (mobile robots with wireless communication capabilities) can create an adaptive wireless network and provide communication services for mobile users on-demand. Robotic routers are especially appealing for applications in which there is a single user whose connectivity to a base station must be maintained in an environment which is large compared to the wireless range. Following video shows three simulations where 1 (at most 2) robotic routers provide a continuous communication for a mobile user where stationary network solution requires at least 4 routers. (I will edit this video)
{{#ev:youtube|NeA498YtYYY}}
In [[#Related Papers|[3]]], we presented motion strategies of robotic routers such that a mobile user is continuously connected to a static base station while minimizing the number of robotic routers required. Communication model tells us whether two points in the environment are connected or not and our solutions work for any given communication model. We considered two motion models for the mobile user. In the first model, we assume that the trajectory of the mobile user is known. This assumption can be valid when the mobile user is a controlled entity whose trajectory is pre-programmed. In the second model, we considered a worst case scenario where the mobile user is an adversarial entity who tries to break the communication as soon as possible. For both models, we presented optimal solutions and a proof of concept in [[#Related Papers|[1]]] (See the following video for a proof of concept).
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(I don't know whether you want me to write about this but in case I included below)
Currently, we are working on a geometric version of the robotic routers problem. For a restricted communication model where two points are connected if the geodesic-distance is less than a threshold, we present an optimal solution if the environment is simply-connected. We present a constant factor approximation if there is a single obstacle on the environment and O(h) approximation for cases where the environment has h obstacles. The latest results are submitted to ICRA2010. Currently, we try to improve the O(h) bound for multiple obstacle case.

Another scenario when mobile robots can be helpful is when a communication bridge between two locations is needed and an underlying communication infrastructure does not exist. For example, when fighting forest fires, a high capacity connection between the command center and a temporary base may be needed. We can use robots as mobile hubs to create this communication bridge between command center and the base. In [[#Related Papers|[2]]], we considered a new bi-criteria optimization problem where the objectives are minimizing the number of hubs on the bridge and either the maximum or the total distance traveled by the hubs. For a geometric version of the problem where the hubs must move onto the line segment between two locations, we presented algorithms which achieve the minimum number of hubs while remaining within a constant factor of the given motion constraint (maximum or total distance).

==Related Papers==
#O. Tekdas, Wei Yang, V. Isler. '''Robotic Routers: Algorithms and Implementation''', ''The International Journal of Robotics Research, May 2009.'' [http://www.cs.umn.edu/~isler/pub/ijrr2008RoboticRouters.pdf pdf] [http://www-users.cs.umn.edu/~isler/pub/Year/2009.complete.html#tekdas09routers bibtex]
#O. Tekdas, Y. Kumar, V. Isler, R. Janardan. '''Building a Communication Bridge with Mobile Hubs''', ''International Workshop on Algorithmic Aspects of Wireless Sensor Networks, July 2009.'' [http://www.cs.umn.edu/~isler/pub/algosensors09.pdf pdf] [http://www-users.cs.umn.edu/~isler/pub/Year/2009.complete.html#algosensors09 bibtex]
#O. Tekdas, V. Isler. '''Robotic Routers''', ''IEEE International Conference on Robotics and Automation, May 2008.'' [http://www.cs.rpi.edu/research/pdf/08-01.pdf pdf] [http://www-users.cs.umn.edu/~isler/pub/Year/2008.complete.html#tekdas08icra bibtex]

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Prataptokekar — Tue, 17 Nov 2009 04:01:48 GMT

added NBA photos

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Prataptokekar — Tue, 17 Nov 2009 03:57:37 GMT

uploaded "[[Image:Sdc10119.jpg]]"

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←Older revision	Revision as of 04:01, November 17, 2009
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	+	[[Image:Img_2904.jpg\|thumb\|left\|400px\|At the Timberwolves vs. Cavaliers games]]
	+	[[Image:Img_2902.jpg\|thumb\|left\|400px\|]]
	+	[[Image:Img_2903.jpg\|thumb\|left\|400px\|]]
	+	[[Image:Sdc10107.jpg\|thumb\|left\|400px\|]]
	+	[[Image:Sdc10119.jpg\|thumb\|left\|400px\|LeBron James]]
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