Joint ERCIM eMobility andMobiSense WorkshopTopology Control and Mobility Strategy forUAV Ad-hoc NetworksZhongliang Zhao an...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       Overview       >      Target...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       Target Application Scenarios...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       UAV Swarms       Santorini, ...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       UAV Platform       >      mi...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       Motivation I       >      UA...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       Motivation II       >      M...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       Related Work       Approache...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       Boids Flocking       Superpo...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       Potential Field       >     ...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       Virtual Springs       >     ...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       Comparison of Approaches    ...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       Topology Control for UAV Ad-...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       Rejective/Attractive ForcesF...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       Outlook       >      Design ...
Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey       Thanks for your attention ! ...
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Topology Control and Mobility Strategy for UAV Ad-hoc Networks

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Topology Control and Mobility Strategy for UAV Ad-hoc Networks

  1. 1. Joint ERCIM eMobility andMobiSense WorkshopTopology Control and Mobility Strategy forUAV Ad-hoc NetworksZhongliang Zhao and Torsten BraunUniversität Bern, Switzerlandbraun@iam.unibe.ch, cds.unibe.ch
  2. 2. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey Overview > Target Application Scenarios > UAV Swarms > Motivation > Related Work — Boids Flocking — Potential Field — Virtual Springs — Comparison of Approaches > Topology Control for UAV Ad-hoc Networks Santorini, June 8, 2012 2
  3. 3. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey Target Application Scenarios Santorini, June 8, 2012 3
  4. 4. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey UAV Swarms Santorini, June 8, 2012 4
  5. 5. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey UAV Platform > mikokopter.de > 4 brushless motors, controlled by 4 controllers > FlightControl > NaviControl > MK3Mag (3-axis compass) > GPS module > 3 gyroscopes > 3-axis acceleration sensor > Pressure/height sensor Santorini, June 8, 2012 5
  6. 6. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey Motivation I > UAVs equipped with wireless mesh nodes form highly mobile ad-hoc network (MANET) > Connectivity required for live monitoring in areas of interest or other real-time applications > Example applications — Security — Agricultural/environmental sensing — Streaming of sports events — Disaster recovery — Communications relaying Santorini, June 8, 2012 6
  7. 7. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey Motivation II > Maintaining connectivity in highly mobile MANETS is challenging. > Needed: MANET topology control mechanism based on swarm control schemes for UAV groups > Challenges — Application dependent parameters (speed, direction, density) of UAV swarm — Dynamic wireless channel characteristics — Connectivity versus coverage needed by application — Resource-constrained UAVs – Mesh nodes with limited processing and communication facilities (bandwidth, transmission range) – Batteries are usually sufficient for a few 10 minutes. Santorini, June 8, 2012 7
  8. 8. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey Related Work Approaches from distributed agent-based formation control > Boids flocking > Potential field > Virtual Springs Santorini, June 8, 2012 8
  9. 9. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey Boids Flocking Superposition of > Separation — Collision avoidance > Alignment — of speed and directions > Cohesion — Attraction to centroid between neighbours to stay close to them results in formation building with a common heading and avoiding collisions Santorini, June 8, 2012 9
  10. 10. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey Potential Field > Techniques developed in distributed robotics control > Attractive and rejective virtual potential fields to/from goals/objects > Rejective forces between objects decrease with increasing distance > Attractive forces between objects increase with increasing distance. Santorini, June 8, 2012 10
  11. 11. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey Virtual Springs > Each object, e.g., UAV, forms virtual connection with each neighbour object. > Resulting forces should be 0 in equilibrium. > Force in each dimension to an object is — L: Length of spring to neighbour object i — K: constant of spring to neighbour object i — D: distance to neighbour object i — Xi, Yi, Zi: position of neighbour object i — Xi, Yi, Zi: position of object. > Completely distributed processing, but neighbour knowledge required. Santorini, June 8, 2012 11
  12. 12. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey Comparison of Approaches Mechanism Pros and Cons Applications Boids Flocking Cons: mostly for Connectivity computer animation Virtual Spring Cons: only distance is Coverage utilized, not accurate Potential Field Pros: Both distance and Coverage and RSSI are used connectivity Santorini, June 8, 2012 12
  13. 13. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey Topology Control for UAV Ad-hoc Networks > Consideration of wireless channel characteristics, e.g. RSSI measured by wireless receivers, in addition to location information obtained by GPS > Proposed Approach — Elect swarm leaders that indicate swarm direction and speed — Distributed control of relative movements within UAV swarm – Define lower / upper bounds for target distance and RSSI – Modify potential field approach by considering RSSI values and GPS data, e.g., – Rejective forces for collision avoidance: increasing force for decreasing distance and for increasing RSSI between 2 UAVs – Attractive forces for maintaining connectivity: increasing force for increasing distance and for decreasing RSSI between 2 UAVs – Weighting of RSSI and distance to calculate rejective and attractive forces – Use GPS data as backup for lacking channel information or lost connectivity Santorini, June 8, 2012 13
  14. 14. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey Rejective/Attractive ForcesF distance (RSS) between objects minimum distance / optimum distance / maximum distance maximum RSS / optimum RSS / minimum RSS Santorini, June 8, 2012 14
  15. 15. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey Outlook > Design and Implementation of — MANET topology control mechanism — Opportunistic multi-channel routing protocol — Applications, e.g., multi-hop relaying, agricultural monitoring Santorini, June 8, 2012 15
  16. 16. Torsten Braun: Topology Control and Mobility Strategy for UAV Ad-hoc Networks: A Survey Thanks for your attention ! > braun@iam.unibe.ch > cds.unibe.ch Santorini, June 8, 2012 16

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