Sensor-Deployment Strategies for        Indoor Robot Navigation                             Aaron Chun-Han Lin 林均翰   Resea...
Previous Project       ITRI project           Demo video             Sensor-Deployment Strategies for             Indoor...
Sensor       Detection           Display                  15-20%                  cost       Embedded system           ...
Wireless Sensor Network (WSN)                                                Crossbow Mica2    Sense: light, motion, tempe...
Project                                                                                                Testbed            ...
Importance of Deployment Technique       Coverage           Detection ratio           Connectivity           Fault tol...
Design of Deployment Technique       Various WSN systems       Different requirements       Developing 3 techniques    ...
Robot       Routine service    8                     2011/8/11
Indoor Robot       Space navigation         Security         Housekeeping         Delivery         Medical         …...
Robot Navigation    Localization    Positioning sensor        A set of sensors can         provide localization        ...
Challenge    Traditional deployment        Full coverage    Tradeoff        Cost  Coverage                           ...
Error Model    Target model        x’ = x + d cos(q+r)         y’ = y + d sin(q+r)         q ’=(q+r) mod 2p    Actual c...
Minimum Deployment-Set Problem    MDS (G, Errmax)        Width of hallway        Width of track        …    The minim...
Deployment Procedure    Map    Track    Deployment strategy    14                     2011/8/11
Initial Construction    Divide graph    Estimate error    Compute number        Complexity  Probability              ...
Refinement    Combine sub-graph    Confinement region        Circular route        Tree-based            Breadth-firs...
Performance Evaluation    ITRI    Cricket17                       2011/8/11
Size of Deployment Set    Refinement ratio    Improvement ratio    18                   2011/8/11
Configuration Error    Average             Variance    19                               2011/8/11
Conclusion    Sensor-deployment strategies for indoor robot navigation        Technique: sensor network        Problem:...
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Invited talk: Sensor deployment strategies for indoor robot navigation

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Invited talk: Sensor deployment strategies for indoor robot navigation

  1. 1. Sensor-Deployment Strategies for Indoor Robot Navigation Aaron Chun-Han Lin 林均翰 Research Center for Information Technology Innovation Academia Sinica Tel: 886-2-2787-2335 Fax: 886-2-2787-2372 Email: chunhan@citi.sinica.edu.tw
  2. 2. Previous Project ITRI project  Demo video Sensor-Deployment Strategies for Indoor Robot Navigation 2 2011/8/11
  3. 3. Sensor Detection  Display 15-20% cost Embedded system Market prediction of MEMS sensor on cellular phone 3 2011/8/11
  4. 4. Wireless Sensor Network (WSN) Crossbow Mica2 Sense: light, motion, temperature, magnetic fields, gravity, humidity, vibration, pressure, electrical fields, sound, ...4 2011/8/11
  5. 5. Project Testbed http://www.csail.mit.edu/ http://fiji.eecs.harvard.edu /Volcano Harvard moteLab COMMON Sense project http://www2.ece.ohio-state.edu/~ekici/http://db.csail.mit.edu/ 5 2011/8/11
  6. 6. Importance of Deployment Technique Coverage  Detection ratio  Connectivity  Fault tolerance  … Lifetime  Energy  Maintenance Deployment cost 6 2011/8/11
  7. 7. Design of Deployment Technique Various WSN systems Different requirements Developing 3 techniques  Indoor robot navigation  Debris-flow observation  Environment surveillance 7 2011/8/11
  8. 8. Robot Routine service 8 2011/8/11
  9. 9. Indoor Robot Space navigation  Security  Housekeeping  Delivery  Medical  … http://www.worldrobotics.org/ 9 2011/8/11
  10. 10. Robot Navigation Localization Positioning sensor  A set of sensors can provide localization service  Wireless  Infrastructure  Coverage 10 2011/8/11
  11. 11. Challenge Traditional deployment  Full coverage Tradeoff  Cost  Coverage Positioning sensor How  Reducing sensor  Where  Keeping coverage  Acceptable error 11 2011/8/11
  12. 12. Error Model Target model  x’ = x + d cos(q+r) y’ = y + d sin(q+r) q ’=(q+r) mod 2p Actual configuration P(f) Configuration error  err(f)=max(P(f) – f)  |err(f)| =|max(P(f) – f)| =(max((P(x) – x)2 + (P(y) – y)2))1/2 Positioning sensor 12 2011/8/11
  13. 13. Minimum Deployment-Set Problem MDS (G, Errmax)  Width of hallway  Width of track  … The minimum deployment-set problem is NP-hard  Vertex cover problem 13 2011/8/11
  14. 14. Deployment Procedure Map Track Deployment strategy 14 2011/8/11
  15. 15. Initial Construction Divide graph Estimate error Compute number  Complexity  Probability Even 1 Decide location 1 2 3  I-EVEN  I-MAX Max 1 1 2 3 15 2011/8/11
  16. 16. Refinement Combine sub-graph Confinement region  Circular route  Tree-based  Breadth-first  Utility-based 16 2011/8/11
  17. 17. Performance Evaluation ITRI Cricket17 2011/8/11
  18. 18. Size of Deployment Set Refinement ratio Improvement ratio 18 2011/8/11
  19. 19. Configuration Error Average  Variance 19 2011/8/11
  20. 20. Conclusion Sensor-deployment strategies for indoor robot navigation  Technique: sensor network  Problem: indoor robot navigation  Problem complexity  Deployment strategy  Performance 20 2011/8/11

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