NDLI: RSSI-based physical layout classification and target tethering in mobile ad-hoc networks

Content Provider	IEEE Xplore Digital Library
Author	Reddy, Prashant P. Veloso, Manuela M.
Copyright Year	2011
Description	Author affiliation: School of Computer Science, Carnegie Mellon University, Pittsburgh, USA (Reddy, Prashant P.; Veloso, Manuela M.)
Abstract	We investigate mobile ad-hoc indoor networks consisting of simple inexpensive robots, LANdroids, with limited wireless communication range and without any range or location sensors. We focus on the problem of using the mobile LANdroids to take responsibility for maintaining connectivity between a static Gateway and mobile Targets that move beyond the communication range of an established network. We refer to such a tracking task as Target Tethering. This type of network commonly uses IEEE 802.11 wireless protocols for communication, with Received Signal Strength Indicator (RSSI) as a measure of radio signal strength. RSSI data is noisy and poorly relates to distance in indoor environments, leading to a challenging Target Tethering task. Some algorithms use the trace of single-source RSSI data to infer distance between two nodes and use it to compute a Target Tethering policy. However, such distance estimates are poor. We instead aim at inferring physical network layout from RSSI data among multiple nodes. We introduce a novel approach based on Cluster Geometries, classes of network nodes corresponding to rotation-invariant physical layouts of LANdroids and a mobile Target, with the conjecture that multi-robot RSSI data can distinguish the Cluster Geometries and therefore the physical layouts. We proceed with extensive experiments and support our conjecture by showing successful classification of the designed Cluster Geometries given the multi-robot RSSI-based data. We then combine the estimated Geometries with motion patterns of the moving Targets to show that suitable multi-robot Target Tethering policies for unknown indoor environments can be learned using multi-agent reinforcement-learning. Specifically, we use an interesting variation of Q-learning where we first learn offline base policies in general open environments and later specialize the policies seamlessly during online execution to account for obstacles in the indoor environment.
Starting Page	2327
Ending Page	2332
File Size	871303
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6095054
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Geometry Layout Logic gates Sensors Mobile communication Mobile computing Indoor environments
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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