Mobile robot trajectory planning for large volume data-muling from wireless sensor nodes

Ourania Tsilomitrou, Antonios Tzes, Stamatis Manesis

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This article focuses on the utilization of a mobile robot as data mule for collecting and transferring data from a ground wireless sensor system (WSN). For the case, where the nodes' communication is impeded either due to a non-connected node, or due to excessive retransmissions caused by significant packet losses, the effective transmission rate is reduced and the energy consumption for the RF-communication increases. In this case, the mobile element/robot approaches the nodes and collects data with a reduced packet loss rate resulted from the use of the proposed technique. The devised algorithm is implemented in the operating system Contiki. Then, the mobile element transfers the stored data to the desired destination. In the adopted scenario, the mobile element assumes prior knowledge of the nodes' locations and its trajectory is extracted by solving a combinatorial optimization problem that resembles that of Traveling Salesman Subset-tour Problem (TSSP). Furthermore, the system is capable of transferring large volumes of data between source nodes and destination one, taking into account: a) the reliable data transmission, b) the traveling distances between the static nodes, c) the visiting/service time at each node and, d) the energy consumption of the mobile robot. Finally, experimental studies indicate the efficiency in terms of reliable data transmission and transmission time among pairs of static and a mobile node. Subsequently, the effectiveness of the overall concept is validated by means of simulations.

    Original languageEnglish (US)
    Title of host publication2017 25th Mediterranean Conference on Control and Automation, MED 2017
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1005-1010
    Number of pages6
    ISBN (Electronic)9781509045334
    DOIs
    StatePublished - Jul 18 2017
    Event25th Mediterranean Conference on Control and Automation, MED 2017 - Valletta, Malta
    Duration: Jul 3 2017Jul 6 2017

    Other

    Other25th Mediterranean Conference on Control and Automation, MED 2017
    CountryMalta
    CityValletta
    Period7/3/177/6/17

    Fingerprint

    Trajectory Planning
    Wireless Sensors
    Packet loss
    Sensor nodes
    Mobile Robot
    Mobile robots
    Data communication systems
    Energy utilization
    Trajectories
    Planning
    Communication
    Combinatorial optimization
    Vertex of a graph
    Robots
    Sensors
    Packet Loss
    Data Transmission
    Energy Consumption
    Travelling salesman
    Combinatorial Optimization Problem

    Keywords

    • Linear Programming
    • Robotic Data Mule
    • Traveling Salesman Subset-tour Problem (TSSP)
    • Wireless Sensor Networks

    ASJC Scopus subject areas

    • Control and Optimization
    • Modeling and Simulation

    Cite this

    Tsilomitrou, O., Tzes, A., & Manesis, S. (2017). Mobile robot trajectory planning for large volume data-muling from wireless sensor nodes. In 2017 25th Mediterranean Conference on Control and Automation, MED 2017 (pp. 1005-1010). [7984249] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2017.7984249

    Mobile robot trajectory planning for large volume data-muling from wireless sensor nodes. / Tsilomitrou, Ourania; Tzes, Antonios; Manesis, Stamatis.

    2017 25th Mediterranean Conference on Control and Automation, MED 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1005-1010 7984249.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Tsilomitrou, O, Tzes, A & Manesis, S 2017, Mobile robot trajectory planning for large volume data-muling from wireless sensor nodes. in 2017 25th Mediterranean Conference on Control and Automation, MED 2017., 7984249, Institute of Electrical and Electronics Engineers Inc., pp. 1005-1010, 25th Mediterranean Conference on Control and Automation, MED 2017, Valletta, Malta, 7/3/17. https://doi.org/10.1109/MED.2017.7984249
    Tsilomitrou O, Tzes A, Manesis S. Mobile robot trajectory planning for large volume data-muling from wireless sensor nodes. In 2017 25th Mediterranean Conference on Control and Automation, MED 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1005-1010. 7984249 https://doi.org/10.1109/MED.2017.7984249
    Tsilomitrou, Ourania ; Tzes, Antonios ; Manesis, Stamatis. / Mobile robot trajectory planning for large volume data-muling from wireless sensor nodes. 2017 25th Mediterranean Conference on Control and Automation, MED 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1005-1010
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