Supervisory control of mobile sensor networks: math formulation, simulation, and implementation

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

[1]  Ian F. Akyildiz,et al.  Wireless sensor networks , 2007 .

[2]  Sonia Martínez,et al.  Coverage control for mobile sensing networks , 2002, IEEE Transactions on Robotics and Automation.

[3]  R. Abielmona,et al.  Robotic sensor agents: a new generation of intelligent agents for complex environment monitoring , 2004, IEEE Instrumentation & Measurement Magazine.

[4]  Frank L. Lewis,et al.  A new matrix model for discrete event systems: application to simulation , 1997 .

[5]  R. K. Shyamasundar,et al.  Introduction to algorithms , 1996 .

[6]  Ian F. Akyildiz,et al.  Sensor Networks , 2002, Encyclopedia of GIS.

[7]  Sean P. Meyn,et al.  Stability of queueing networks and scheduling policies , 1995, IEEE Trans. Autom. Control..

[8]  Frank L. Lewis,et al.  Machine planning for manufacturing: dynamic resource allocation and on-line supervisory control , 1998, J. Intell. Manuf..

[9]  Billy Harris,,et al.  Automatically Generating Plans for Manufacturing , 2000 .

[10]  Frank L. Lewis,et al.  Analysis of Deadlock and Circular Waits Using a Matrix Model for Flexible Manufacturing Systems , 1998, Autom..

[11]  Tadao Murata,et al.  Petri nets: Properties, analysis and applications , 1989, Proc. IEEE.

[12]  Gaurav S. Sukhatme,et al.  Robomote: a tiny mobile robot platform for large-scale ad-hoc sensor networks , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[13]  S. S. Panwalkar,et al.  A Survey of Scheduling Rules , 1977, Oper. Res..

[14]  Diana F. Spears,et al.  Reconfigurable robot teams: modeling and supervisory control , 2004, IEEE Transactions on Control Systems Technology.

[15]  Nael B. Abu-Ghazaleh,et al.  A taxonomy of wireless micro-sensor network models , 2002, MOCO.

[16]  Zack J. Butler,et al.  Event-Based Motion Control for Mobile-Sensor Networks , 2003, IEEE Pervasive Comput..

[17]  G. N. Saridis,et al.  Intelligent robotic control , 1983 .

[18]  Javier Martínez,et al.  A Petri net based deadlock prevention policy for flexible manufacturing systems , 1995, IEEE Trans. Robotics Autom..

[19]  Tucker R. Balch,et al.  Social potentials for scalable multi-robot formations , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[20]  D. V. Steward,et al.  The design structure system: A method for managing the design of complex systems , 1981, IEEE Transactions on Engineering Management.

[21]  黃祥熙 Combining Operations Research and Agent-Oriented Techniques for Agile Manufacturing System Design , 1995 .

[22]  Frank L. Lewis,et al.  Deadlock analysis and routing on free-choice multipart reentrant flow lines using a matrix-based discrete event controller , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[23]  Joo-Ho Lee,et al.  Controlling mobile robots in distributed intelligent sensor network , 2003, IEEE Trans. Ind. Electron..

[24]  Ronald L. Rivest,et al.  Introduction to Algorithms , 1990 .

[25]  Frank L. Lewis,et al.  Intelligent material handling: development and implementation of a matrix-based discrete-event controller , 2001, IEEE Trans. Ind. Electron..

[26]  Bill Goodwine,et al.  MICAbot: a robotic platform for large-scale distributed robotics , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[27]  Wolfram Burgard,et al.  Collaborative multi-robot exploration , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[28]  Tucker R. Balch,et al.  Behavior-based formation control for multirobot teams , 1998, IEEE Trans. Robotics Autom..

[29]  Sarit Kraus,et al.  Towards a formalization of teamwork with resource constraints , 2004, Proceedings of the Third International Joint Conference on Autonomous Agents and Multiagent Systems, 2004. AAMAS 2004..

[30]  Gaurav S. Sukhatme,et al.  An incremental deployment algorithm for mobile robot teams , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[31]  Andrew Kusiak,et al.  Intelligent scheduling of automated machining systems , 1992 .

[32]  Claus B. Madsen,et al.  Sensor networked mobile robotics , 2000, Proceedings IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2000 (Cat. No.PR00662).

[33]  Ray G. Gosine,et al.  Coordinated execution of tasks in a multiagent environment , 2003, IEEE Trans. Syst. Man Cybern. Part A.

[34]  Lynne E. Parker,et al.  ALLIANCE: an architecture for fault tolerant multirobot cooperation , 1998, IEEE Trans. Robotics Autom..