1. 788.11J Presentation “Robot Navigation using a Sensor Network ”
Presented by Hui Cao
CENS USC

2. The Main Idea Mobile robots used in sensor networks
The network: the communication, sensing and computation
The robots: actuation (mobility)
The goal is to minimize the cumulative alarm On Time across all alarms

3. The Main Achievements
Distributed In-Network Task Allocation

4. The Challenges
Tasks in the environment are geographically and temporally spread
Assign tasks to robots optimally in an online fashion

5. Pictures

6. Conclusion Convergence problem Don’t care communication
No feedback, no control theory applied although we have actuation!