Autonomous Mouvments: to creativity... and beyond Tahiry Razafindralambo May 27, 2014
Tahiry Razafindralambo I am a Inria researcher in the FUN research group led by our beloved Nathalie. I was ”out of the office” for the last 20 months. Now, I am back. I (used to) work on: #Sensor Net- works, #Controlled Mobility , #QoS, #Algo- rithm, #Mobility. Please come to visit me in the beautiful office #A205 with a perfect view on #NothingForNow and sometimes #Traffic- Jam. (It’s a 8 years picture I have much less hair now). Tahiry Razafindralambo May 27, 2014 - 2
Agenda Chile Context Research statement Mobility Coverage Points of Interest Coverage, Permanent Connectivity Perspectives Tahiry Razafindralambo May 27, 2014 - 3
Chile 0 Chile Tahiry Razafindralambo May 27, 2014 - 4
Chile What I did in Chile :: 1 I was part of Inria Chile ◮ It’s like Inria but in Chile ◮ It focuses only on technology transfer ◮ Only STI and SED ◮ Researchers dedicated to transfer / projects Tahiry Razafindralambo May 27, 2014 - 5
Chile What I did in Chile :: 2 Writing projects ◮ Health monitoring ◮ Enhanced shopping experience ◮ Precision agriculture ◮ Mines monitoring ◮ ... Tahiry Razafindralambo May 27, 2014 - 6
Context 1 Autonomous movement Tahiry Razafindralambo May 27, 2014 - 7
Context Research statement Research Statements ◮ Protocols : MAC, Routing (wireless ad hoc networks, sensor networks) ◮ Performance evaluation : Process algebra / Model (ad hoc networks) ◮ Data aggregation : Temporal series (sensor networks) ◮ Controlled Mobility (sensor networks, wireless networks) Tahiry Razafindralambo May 27, 2014 - 8
Context Context Mobility::Definition It is a characteristic of an object with the capacity or possibility to : ◮ Change aspect ◮ Move ◮ Be moved Mobility characterizes everything that : ◮ Can “rapidly” change its shape ◮ Is instable ◮ Is variable ◮ Fluctuates over time and space Tahiry Razafindralambo May 27, 2014 - 9
Context Context Focus::Challenges ◮ Exploit the mobility of devices ◮ Introduce mobility inside Swarms/Networks ◮ Turn devices’ mobility into network/application primitive Tahiry Razafindralambo May 27, 2014 - 10
Coverage 2 Coverage Tahiry Razafindralambo May 27, 2014 - 11
Coverage PoI Assumptions::Devices/Object Devices / Robots ◮ Knows its own position ◮ Has limited communication capabilities (range R ) ◮ Has sensing capabilities ◮ Has motion capabilities ◮ Decides to move on its own Object / Network ◮ Knows the position of the Points of Interest ◮ Needs information from the Points of Interest ◮ Sends commands to the devices Tahiry Razafindralambo May 27, 2014 - 12
Coverage PoI Connectivity::Why ? How ? Why ◮ Because it is possible ◮ Important to send/receive commands ◮ Important for data gathering ◮ Important for communication in general How ◮ Based on local interactions ◮ Use of Relative Neighborhood Graph ◮ Add constraints on movements We are using mobility to control and create the shape of the network. A short video... Tahiry Razafindralambo May 27, 2014 - 13
Coverage PoI Algorithm::Connectivity Part::1 T. Razafindralambo, D. Simplot-Ryl: Connectivity Preservation and Coverage Schemes for Wireless Sensor Networks. IEEE Transaction on Automatic Control. 56(10): 2418-2428 (2011) ◮ We consider that the network is a graph (evolving) G ( V , E ) ◮ d ( u , v ) is the distance between devices u and v ◮ E = { ( u , v ) ∈ V 2 | u � = v ∧ d ( u , v ) ≤ R } ◮ N ( u ) = { v ∈ E | d ( u , v ) ≤ R } neighbor’s of u ◮ RNG ( G ) = ( V , E rng ) RNG graph extracted from G. ◮ E rng = { ( u , v ) ∈ E | ∄ w ∈ ( N ( u ) ∩ N ( v )) ∧ d ( u , w ) < d ( u , v ) ∧ d ( v , w ) < d ( u , v ) } ◮ d + ( u ) distance between device u and its furthest RNG neighbor. Tahiry Razafindralambo May 27, 2014 - 14
Coverage PoI Algorithm::Connectivity Part::2 T. Razafindralambo, D. Simplot-Ryl: Connectivity Preservation and Coverage Schemes for Wireless Sensor Networks. IEEE Transaction on Automatic Control. 56(10): 2418-2428 (2011) Theorem Let d ≤ ( R − d + ( u )) / 2 the maximum distance device u can travel. If at t 1 G ( V , E ) is connected, at time t 2 > t 1 G ( V , E ) will be connected. Intuition v + d (u) w u d d R Tahiry Razafindralambo May 27, 2014 - 15
Coverage PoI Algorithm::PoI Coverage::0 M. Erdelj, T. Razafindralambo, D. Simplot-Ryl: Covering Points of Interest with Mobile Sensors. IEEE Transaction Parallel Distributed Systems 24(1): 32-43 (2013) Algorithm has 3 independent parts ◮ Direction (objectives) ◮ Connectivity preservation (constraints) ◮ Movement Tahiry Razafindralambo May 27, 2014 - 16
Coverage PoI Algorithm::PoI Coverage::1 M. Erdelj, T. Razafindralambo, D. Simplot-Ryl: Covering Points of Interest with Mobile Sensors. IEEE Transaction Parallel Distributed Systems 24(1): 32-43 (2013) Device movement sketch ◮ Move toward point of interest ◮ Consider connectivity preservation ◮ Stop when the PoI is reached (below sensing range) ◮ ... (special cases related techniques) Base Station Base Station Base Station Base Station x x v x x R w R w R w u v R u u u v v w dp dp PoI PoI PoI PoI Tahiry Razafindralambo May 27, 2014 - 17
Coverage PoI Algorithm::PoI Coverage::2 M. Erdelj, T. Razafindralambo, D. Simplot-Ryl: Covering Points of Interest with Mobile Sensors. IEEE Transaction Parallel Distributed Systems 24(1): 32-43 (2013) Properties ◮ Termination: There exists a time t end where all devices stop moving ◮ Straight line: The devices will form a straight line (at the end) ◮ Minimizing communication devices ◮ Maximizing sensing devices Tahiry Razafindralambo May 27, 2014 - 18
Coverage PoI Algorithm::PoI Coverage::3 M. Erdelj, T. Razafindralambo, D. Simplot-Ryl: Covering Points of Interest with Mobile Sensors. IEEE Transaction Parallel Distributed Systems 24(1): 32-43 (2013) 12 12 12 12 10 10 10 10 8 8 8 8 6 6 6 6 4 4 4 4 2 2 2 2 0 0 0 0 -1 -0.5 0 0.5 1 1.5 2 -1 -0.5 0 0.5 1 1.5 2 -1 -0.5 0 0.5 1 1.5 2 -1 -0.5 0 0.5 1 1.5 2 Tahiry Razafindralambo May 27, 2014 - 19
Coverage PoI Algorithm::Discussions Strengths ◮ Simple, localized ◮ Separation between connectivity, coverage and movement ◮ Proven theoretically and practically ◮ Can be extended easily ◮ ... Weaknesses ◮ Localization ◮ Need the location of Point of Interest ◮ ... Tahiry Razafindralambo May 27, 2014 - 20
Perspectives 4 Perspectives Tahiry Razafindralambo May 27, 2014 - 21
Perspectives Next steps :: Controlled mobility::1 Why ◮ Decide if the movement is worth it ◮ Decide if the movement will have an impact ◮ Controlled Delay Tolerant Networks ◮ Relationship between movement/location and objectives When ◮ Decide the best moment to move ◮ Collect the information that allows the decision ◮ Measurement system ◮ Forecasting techniques Tahiry Razafindralambo May 27, 2014 - 22
Perspectives Next steps :: Controlled mobility::2 Where ◮ Impact/Influence of position on the object ◮ Local choices and global needs ◮ Link the local position to a global optimum ◮ Define, change, update the objectives How ◮ Choose the best way to move from one point to another ◮ Decide the interactions with other devices ◮ Swarm behaviour ◮ Trade-off : Energy-Objective Tahiry Razafindralambo May 27, 2014 - 23
Perspectives Next steps :: Controlled mobility::3 I have 5 minutes video... Tahiry Razafindralambo May 27, 2014 - 24
Perspectives MERCI Tahiry Razafindralambo tahiry.razafindralambo@inria.fr http://researchers.lille.inria.fr/ ∼ razafind/
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