Control of communication with autonomous robotic devices through optimal stopping theory

Postgraduate Thesis uoadl:2741455 533 Read counter

Unit:
Κατεύθυνση Ηλεκτρονικός Αυτοματισμός (Η/Α, με πρόσθετη εξειδίκευση στην Πληροφορική και στα πληροφοριακά συστήματα)
Library of the School of Science
Deposit date:
2018-04-17
Year:
2018
Author:
Galanis Ioannis
Supervisors info:
Ευστάθιος Χατζηευθυμιάδης, Αναπληρωτής Καθηγητής, Τμήμα Πληροφορικής και Τηλεπικοινωνιών, Εθνικό και Καποδιστριακό Πανεπιστήμιο Αθηνών
Original Title:
Control of communication with autonomous robotic devices through optimal stopping theory
Languages:
English
Translated title:
Control of communication with autonomous robotic devices through optimal stopping theory
Summary:
Nowadays, the domain of robotics experiences a significant growth. Until now, most robots were found in the form of industrial machines. In recent years, smaller scale robotic systems have appeared, like driverless cars, drones etc. In this thesis we focus our attention on Unmanned Vehicles intended for the air, sea and ground (UxV). Such devices are typically equipped with numerous sensors that detect contextual parameters from the broader environment, e.g., obstacles, temperature, etc. UxV reports its sensors findings (telemetry) to other systems, e.g., back-end systems, that further process the captured information. At the same time the UxV receives control inputs, such as navigation commands from other systems, e.g., commanding stations. We investigate a framework that monitors network condition parameters such as signal strength and prioritizes the transmission of control messages and telemetry. This framework relies on the theory of optimal stopping, which is concerned with the problem of choosing a time to take a particular acction in order to maximize an expexted reward or minimize an expected cost. We apply the optimal stopping theory to online assess the trade-off between the delivery of the messages and the network quality statistics and optimally schedule critical information delivery to back-end systems.
Main subject category:
Science
Other subject categories:
Technology - Computer science
Keywords:
Ad-hoc, sensor, mesh and vehicular wireless networks; Context-awareness in wireless, mobile and multimedia networks; Device-to-device Communications
Index:
Yes
Number of index pages:
4
Contains images:
Yes
Number of references:
19
Number of pages:
51
ΔιπλωματικήΙωάννηςΓαλάνης.pdf (1 MB) Open in new window