Title :
Supervisory control of mobile sensor networks: math formulation, simulation, and implementation
Author :
Giordano, Vincenzo ; Ballal, Prasanna ; Lewis, Frank ; Turchiano, Biagio ; Zhang, Jing Bing
Author_Institution :
Dipt. di Elettrotecnica ed Elettronica, Politecnico di Bari
Abstract :
This paper uses a novel discrete-event controller (DEC) for the coordination of cooperating heterogeneous wireless sensor networks (WSNs) containing both unattended ground sensors (UGSs) and mobile sensor robots. The DEC sequences the most suitable tasks for each agent and assigns sensor resources according to the current perception of the environment. A matrix formulation makes this DEC particularly useful for WSN, where missions change and sensor agents may be added or may fail. WSN have peculiarities that complicate their supervisory control. Therefore, this paper introduces several new tools for DEC design and operation, including methods for generating the required supervisory matrices based on mission planning, methods for modifying the matrices in the event of failed nodes, or nodes entering the network, and a novel dynamic priority assignment weighting approach for selecting the most appropriate and useful sensors for a given mission task. The resulting DEC represents a complete dynamical description of the WSN system, which allows a fast programming of deployable WSN, a computer simulation analysis, and an efficient implementation. The DEC is actually implemented on an experimental wireless-sensor-network prototyping system. Both simulation and experimental results are presented to show the effectiveness and versatility of the developed control architecture
Keywords :
discrete event systems; mobile agents; mobile robots; path planning; wireless sensor networks; discrete-event control; math formulation; mobile sensor networks; mobile sensor robots; simulation; supervisory control; unattended ground sensors; wireless sensor networks; Computational modeling; Computer architecture; Computer simulation; Dynamic programming; Mobile robots; Prototypes; Robot kinematics; Robot sensing systems; Supervisory control; Wireless sensor networks; Discrete-event control; mobile sensor networks; supervisory control;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMCB.2006.870647