1. Distributed Sensing and Data Collection Via Broken Ad Hoc Wireless Connected Networks Mobile Robots By Alan FT Winfield Presented By Navpreet Bawa

2. The Author with LinuxBot

3. OUTLINE  Introduction  Ad-Hoc Network  Model Connectivity  Algorithm  Simulation Results  Discussion and Future Work

4. INTRODUCTION Problem Definition Distributed Sensing, Data collection VIA mobile Ad Hoc N/w  Formation of Subnets Scenario  Bounded Region  Finite Mobile Robots :random  Transmission range ‘r’

5. Ad Hoc Network(MANET) What is Ad Hoc network?  No fixed Network Infrastructure  Nodes communicate without AP  For Mobile: node in proximity of another WHY Ad Hoc Used?  Position at t=0 and t=5 different, uncertain  Medium of communication: BROADCAST

6. Model Of Robot Connectivity

7. Algorithm Used By the Author

8. Assumptions Algorithm works well for applications where  Memory not a constraint  Enough bandwidth available  Intermittent Loss of data :Allowed  Application not delay sensitive

9. 1 2 3 0 r 1. All Nodes Sense data 2. Every Node broadcasts data to neighbors & each neighbor broadcasts received data & its own data to its neighbors 3. Every time a robot detects another robot in range, then all data within its buffer is broadcast to the new neighbor and to its neighbors and vice-versa 4. Each robot’s data is marked with its IP, when 0 receives data from all robots then the sampling for that period is complete. 0 is pre-programmed to know all IP addresses before hand.

10. Test Bed

11. Spatial Distribution in Bounded Region

12. Simulation Results

13. Discussion and Future Work Issue : Buffer Memory Requirement : Unbounded Memory Strategy : Circular Buffer Disadvantage : Erasure of data

14. Food For Thought??  When 2 robots in each others range Both transmit data to each other..  Result: Data corruption due to interference of Broadcast??

15. Thank You!!