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Distributed Robotics


Research

Modular Robots Distributed Robotics Networked Robots Animals and Robots Sensor Networks Underwater Robotics 3D Navigation Desktop Robotics

Mobile Sensor Networks

Localization and Navigation

The goal of this research is to develop autonomous networks of sensors
that perceive their environment and respond to it, anticipating
information needs by the network and by users of the network,
repositioning and organizing themselves to best acquire and deliver
the information.

Mobile sensor networks are sensor networks in which nodes can
move under their own control or under the control of the environment.
Mobile networked systems combine the most advanced concepts in
perception, communication, and control to create computational
systems capable of interacting in meaningful ways with the physical
environment, thus extending the individual capabilities of each
network component and network user to encompass a much wider area
and range of data. A key difference between a mobile sensor network
and a static sensor network is how information is distributed over
the network. Under static nodes, a new task or data can be flooded
across the network in a very predictable way. Under mobility this kind
of flooding is more complex. Under natural mobility this depends
on the mobility model of the nodes in the system.

We are studying issues related to the deployment, localization,
self-organization, maintenance, and in-network data processing in
such networks.

We are working with a range of applications and devices. We use Mica Motes
and MIT Crickets for ground applications. We use our in-house sensor
node called Aquafleck for underwater applications.