Prof. Fan Yu Profile

Prof. Fan Yu

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Proceedings Article | 1 May 2007 Paper

Collaborative multi-target tracking using networked micro-robotic vehicles

Subir Biswas, Sonny Gupta, Fan Yu, Tao Wu

Proceedings Volume 6578, 657812 (2007) https://doi.org/10.1117/12.717919

KEYWORDS: Navigation systems, Detection and tracking algorithms, Algorithm development, Filtering (signal processing), Electronic filtering, Network architectures, Switching, Infrared sensors, Sensors, Switches

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This paper presents a collaborative target tracking framework, in which distributed mechanisms are developed for tracking multiple mobile targets using a team of networked micro robotic vehicles. Applications of such a framework would include detection of multi-agent intrusion, network-assisted attack localization, and other collaborative search scenarios. The key idea of the developed framework is to design distributed algorithms that can be executed by tracking entities using a mobile ad hoc network. The paper comprises the following components. First, the software and hardware architectural detail of a Swarm Capable Autonomous Vehicle (SCAV) system that is used as the mobile platform in our target tracking application is presented. Second, the details of an indoor self-localization and Kalman filter based navigation system for the SCAV are presented. Third, a formal definition of the collaborative multi-target tracking problem and a heuristic based networked solution are developed. Finally, the performance of the proposed tracking framework is evaluated on a laboratory test-bed of a fleet of SCAV vehicles. A detailed system characterization in terms localization, navigation, and collaborative tracking performance is performed on the SCAV test-bed. In addition to valuable implementation insights about the localization, navigation, filtering, and ad hoc networking processes, a number of interesting conclusions about the overall tracking system are presented.

Proceedings Article | 12 May 2006 Paper

An in-band self-organized MAC protocol for sensor networks

Subir Biswas, Fan Yu

Proceedings Volume 6248, 62480H (2006) https://doi.org/10.1117/12.667212

KEYWORDS: Raster graphics, Sensors, Sensor networks, Data modeling, Performance modeling, Energy efficiency, Computer simulations, Receivers, Data transmission, Data communications

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This paper presents a self-organizing MAC protocol framework for distributed sensor networks with arbitrary mesh topologies. The novelty of the proposed ISOMAC (In-band Self-Organized MAC) protocol lies in its in-band control mechanism for exchanging TDMA slot information while distributed MAC scheduling. A fixed length bitmap vector is used in each packet header for exchanging relative slot timing information across immediate and up to 2-hop neighbors. It is shown that by avoiding explicit timing information exchange, ISOMAC can work without network-wide time synchronization which can be prohibitive for severely cost-constrained sensor nodes in very large networks. A slotclustering effect, caused by in-band bitmap constraints, causes ISOMAC to offer better spatial channel reuse compared to traditional distributed TDMA protocols. ISOMAC employs a partial node wake-up and header-only transmission strategy to adjust energy expenditure based on the instantaneous nodal data rate. Both analytical and simulation models have been developed for characterizing the proposed protocol. Results demonstrate that with in-band bitmap vectors of moderate length, ISOMAC converges reasonably quickly - approximately within 4 to 8 TDMA frame duration. Also, if the bitmap header duration is restricted within 10% of packet duration, the energy penalty of the in-band information is quite negligible. It is also shown that ISOMAC can be implemented in the presence of network time synchronization, although its performance without synchronization is just marginally worse than that with synchronization.

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