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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
Previous Project
       ITRI project

           Demo video


             Sensor-Deployment Strategies for
             Indoor Robot Navigation




    2                                  2011/8/11
Sensor
       Detection
           Display




                  15-20%
                  cost
       Embedded system

                           Market prediction of MEMS sensor on cellular phone

    3                                                   2011/8/11
Wireless Sensor Network (WSN)                                                Crossbow Mica2




    Sense: light, motion, temperature, magnetic fields, gravity, humidity,
    vibration, pressure, electrical fields, sound, ...
4                                                                2011/8/11
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
Importance of Deployment Technique
       Coverage
           Detection ratio
           Connectivity
           Fault tolerance
           …
       Lifetime
           Energy
           Maintenance



       Deployment cost

    6                         2011/8/11
Design of Deployment Technique
       Various WSN systems

       Different requirements

       Developing 3 techniques
           Indoor robot navigation
           Debris-flow observation
           Environment surveillance




    7                                  2011/8/11
Robot

       Routine service




    8                     2011/8/11
Indoor Robot
       Space navigation
         Security
         Housekeeping
         Delivery
         Medical
         …




                           http://www.worldrobotics.org/



    9                               2011/8/11
Robot Navigation
    Localization
    Positioning sensor
        A set of sensors can
         provide localization
         service
        Wireless
        Infrastructure
        Coverage




    10                          2011/8/11
Challenge
    Traditional deployment
        Full coverage
    Tradeoff
        Cost  Coverage
                                Positioning sensor
    How
        Reducing sensor
            Where
        Keeping coverage
            Acceptable error


    11                                               2011/8/11
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
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
Deployment Procedure
    Map




    Track




    Deployment strategy


    14                     2011/8/11
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
Refinement
    Combine sub-graph

    Confinement region

        Circular route

        Tree-based
            Breadth-first
        Utility-based




    16                       2011/8/11
Performance Evaluation
    ITRI
    Cricket




17                       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: indoor robot navigation

        Problem complexity
        Deployment strategy
        Performance




    20                                        2011/8/11

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Invited talk: Sensor deployment strategies for indoor robot navigation

  • 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. Previous Project  ITRI project  Demo video Sensor-Deployment Strategies for Indoor Robot Navigation 2 2011/8/11
  • 3. Sensor  Detection  Display 15-20% cost  Embedded system Market prediction of MEMS sensor on cellular phone 3 2011/8/11
  • 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. 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. Importance of Deployment Technique  Coverage  Detection ratio  Connectivity  Fault tolerance  …  Lifetime  Energy  Maintenance  Deployment cost 6 2011/8/11
  • 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. Robot  Routine service 8 2011/8/11
  • 9. Indoor Robot  Space navigation  Security  Housekeeping  Delivery  Medical  … http://www.worldrobotics.org/ 9 2011/8/11
  • 10. Robot Navigation  Localization  Positioning sensor  A set of sensors can provide localization service  Wireless  Infrastructure  Coverage 10 2011/8/11
  • 11. Challenge  Traditional deployment  Full coverage  Tradeoff  Cost  Coverage Positioning sensor  How  Reducing sensor  Where  Keeping coverage  Acceptable error 11 2011/8/11
  • 12. 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. 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. Deployment Procedure  Map  Track  Deployment strategy 14 2011/8/11
  • 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. Refinement  Combine sub-graph  Confinement region  Circular route  Tree-based  Breadth-first  Utility-based 16 2011/8/11
  • 17. Performance Evaluation  ITRI  Cricket 17 2011/8/11
  • 18. Size of Deployment Set  Refinement ratio  Improvement ratio 18 2011/8/11
  • 19. Configuration Error  Average  Variance 19 2011/8/11
  • 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