Projects Ad hoc Mobile Robots Wireless Networks
| Ad hoc Mobile Robots Wireless Networks |
| Projects | ||
ObjectivesTele-operation of robots is a set with subsets namely Tele-presence and Telexistence (T3). This is a multidimensional injective control-command design on one hand and a multidimensional bijective design on the other hand. Set and sub sets are linear or not. In this context, secure and safe telecommunication and networking designs are crucial when dealing with time lag, bandwidth, QoS ...etc under real time constraints.
Within this context, there is a combination of control-command activities up to strategies at intermediate and high levels of tasks. The main objective is to study not only Control-Command strategies (C2) but to include (tele) communication and networking as well (C3) plus intelligence (C3i) in a global systemic approach. Parallel and hybrid solutions are promising ways to combine needs and degraded modes occurring during activities.
Communication protocols to support interactions among mobile robots in possibly adverse environments. Robots have to communicate together in an efficient way to perform their task. The communication techniques to use are different depending on the distance between the robots, their mobility scheme and the environment in which they evolve (ground, air, water). Each environment puts constraints on the quality of the communications (delay, errors, and jitter) which could limit the coordination between the mobile robots. How to improve these communications in these possibly adverse environments and how to take benefit of cross layer coordination such as topology control to improve these communications are among the problems that are addressed in this project. Technologies such as Ad hoc networks and DTN are good models for such communications between robots and are addressed in this project. The expected results are new routing protocols and QoS management mechanisms but also topology coordination (in fact in networked robots context, it is possible to change the topology of the network to accommodate the QoS requirement while this is difficult in general in network infrastructures. Cross layer information exchange between the communication stack and the robot control system are among the directions that are also addressed. Security in Networked Robots the objective in this project is to address all the aspect related to the security and the safety of mobile networked robots systems. The objective is to study all the vulnerability of such systems and provide accurate solutions. Among the problems that are addressed we can cite: (1) robot intrusion detection, (2) inter-robots communication protection, (3) robot behavior safety, etc. Platforms WiFi 802.11n Wireless Mesh Network: this platform is composed of a set of WiFi access point embedded with Linux implementing an Ad hoc network using OLSR, AODV or Mesh Networks routing protocols. The WiFi Access Points can be embedded in different type of ground mobile robots. WiMax 802.16 Infrastructure: This platform is composed of a WiMax Base Station and a set of set of CPEs. The CPEs can be located in mobile robots and allow communication in a star topology with the Base Station at maximum throughput of 54 Mbps. The antenna can be omni or flat depending on the application. A MIPv4 and MIPv6 are used to ensure the connectivity during the mobility while TSL is used to secure the communications between the robots and the Base Station.
Collaborations
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