Wireless communications in tunnels for urban search and rescue robots

Remley, Kate A.; Koepke, Galen H.; Camell, Dennis G.; Grosvenor, Chriss A.; Hough, George C.; Johnk, Robert T.

doi:10.1145/1774674.1774711

Cited by 11 publications

(10 citation statements)

References 7 publications

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“…In the second case, something similar happens: if to extend the range of a hypothetical robot-team its members form a chain configuration (consider a search and rescue scenario in a long tunnel for example [23], [36]), the frames exchanged by the robots in the two ends would need to hop through all the other relay nodes. This would reduce the available bandwidth by a factor 1/(n − 1) in the worst case, being n the number of nodes (computers) involved.…”

Section: Bandwidth Limitationsmentioning

confidence: 99%

Pound: A multi-master ROS node for reducing delay and jitter in wireless multi-robot networks

Tardioli

Parasuraman

Ögren

2019

Robotics and Autonomous Systems

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Section: Bandwidth Limitationsmentioning

confidence: 99%

Pound: A multi-master ROS node for reducing delay and jitter in wireless multi-robot networks

Tardioli

Parasuraman

Ögren

2019

Robotics and Autonomous Systems

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“…Additionally (not shown here), at the lower frequencies we saw attenuation due to lossy waveguide effects, where frequencies below the "cut-off" frequency of the tunnel were significantly attenuated [6], [31].…”

Section: Oil Refinerymentioning

confidence: 99%

Radio-Wave Propagation Into Large Building Structures—Part 2: Characterization of Multipath

Remley

Koepke

Holloway

et al. 2010

IEEE Trans. Antennas Propagat.

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We report on measurements that characterize multipath conditions that affect broadband wireless communications in building penetration scenarios. Measurements carried out in various large structures quantify both radio-signal attenuation and distortion (multipath) in the radio propagation channel. Our study includes measurements of the complex, wideband channel transfer function and bandpass measurements of a 20 MHz-wide, digitally modulated signal. From these, we derive the more compact metrics of time delay spread, total received power and error vector magnitude that summarize channel characteristics with a single number. We describe the experimental set-up and the measurement results for data collected in representative structures. Finally, we discuss how the combination of propagation metrics may be used to classify different propagation channel types appropriate for public-safety applications.Index Terms-Attenuation, broadband radio communications, building penetration, digital modulation, emergency responders, error vector magnitude, excess path loss, received power, time-delay spread, vector network analyzer, vector signal analyzer, wireless signals, wireless system measurements, wireless telecommunications. Manuscript

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“…The development of airborne networking for the purposes of coordinating and sharing UAV sensor data is in its infancy [7] and recent studies by the National Institutes of Standards and Technology shows that current robotic systems face significant challenges to avoid radio interference [6]. Accordingly, our near-term vision for DATR is that the Ground Control Stations (GCS) form the nodes in the distributed target recognition network and the processing of the video streams provided by the UAVs is done by DATR Agents that receive the video data in a digital format (MJPG stream).…”

Section: Assumptions and Limitationsmentioning

confidence: 99%

Towards distributed ATR using subjective logic combination rules with a swarm of UAVs

2007

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In this paper, we present our initial findings demonstrating a cost-effective approach to Aided Target Recognition (ATR) employing a swarm of inexpensive Unmanned Aerial Vehicles (UAVs). We call our approach Distributed ATR (DATR). Our paper describes the utility of DATR for autonomous UAV operations, provides an overview of our methods, and the results of our initial simulation-based implementation and feasibility study. Our technology is aimed towards small and micro UAVs where platform restrictions allow only a modest quality camera and limited on-board computational capabilities. It is understood that an inexpensive sensor coupled with limited processing capability would be challenged in deriving a high probability of detection (P d ) while maintaining a low probability of false alarms (P fa ). Our hypothesis is that an evidential reasoning approach to fusing the observations of multiple UAVs observing approximately the same scene can raise the P d and lower the P fa sufficiently in order to provide a cost-effective ATR capability. This capability can lead to practical implementations of autonomous, coordinated, multi-UAV operations.In our system, the live video feed from a UAV is processed by a lightweight real-time ATR algorithm. This algorithm provides a set of possible classifications for each detected object over a possibility space defined by a set of exemplars. The classifications for each frame within a short observation interval (a few seconds) are used to generate a belief statement. Our system considers how many frames in the observation interval support each potential classification. A definable function transforms the observational data into a belief value. The belief value, or opinion, represents the UAV's belief that an object of the particular class exists in the area covered during the observation interval. The opinion is submitted as evidence in an evidential reasoning system. Opinions from observations over the same spatial area will have similar index values in the evidence cache. The evidential reasoning system combines observations of similar spatial indexes, discounting older observations based upon a parameterized information aging function. We employ Subjective Logic operations in the discounting and combination of opinions. The result is the consensus opinion from all observations that an object of a given class exists in a given region.

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Wireless communications in tunnels for urban search and rescue robots

Cited by 11 publications

References 7 publications

Pound: A multi-master ROS node for reducing delay and jitter in wireless multi-robot networks

Pound: A multi-master ROS node for reducing delay and jitter in wireless multi-robot networks

Radio-Wave Propagation Into Large Building Structures—Part 2: Characterization of Multipath

Towards distributed ATR using subjective logic combination rules with a swarm of UAVs

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