Advertisement

Mobile Networks and Applications

, Volume 21, Issue 4, pp 708–725 | Cite as

A Mission-Oriented Coordination Framework for Teams of Mobile Aerial and Terrestrial Smart Objects

  • Pasquale PaceEmail author
  • Gianluca Aloi
  • Giuseppe Caliciuri
  • Giancarlo Fortino
Article

Abstract

Very recently, the paradigm of the Internet of Mobile Things (IoMT), in which smart things can be moved or can move autonomously whilst remaining accessible and controllable remotely, has been the object of a great attention in the research community. In this context, the paper proposes and investigates a novel framework to support both the management and the collaboration of Mobile Smart Objects (MSOs) considered as terrestrial and aerial drones (i.e., UAVs, UGVs). MSOs are equipped with embedded sensors and/or actuators and can move autonomously always remaining connected, accessible and controllable. The proposed framework allows the programming and management of smart drones and the coordination of teams of drones according to a mission-oriented paradigm. Coordination is dynamically enabled by specific executive parameters and system conditions (i.e., residual energy, computational power, abilities offered by specific on board sensors). To evaluate the effectiveness and the reliability of the proposed framework, a real testbed was created using off-the-shelf drones.

Keywords

Aerial/Terrestrial drones Embedded and cyber-physical systems Self-organizing networks Cooperative objects 

References

  1. 1.
    Atzori L, Iera A, Morabito G (2010) The internet of things: a survey. Comput Netw 54(15):2787–2805CrossRefzbMATHGoogle Scholar
  2. 2.
    INTER-IoT - H2020 European Project - Available on line: http://www.inter-iot-project.eu/
  3. 3.
    Nahrstedt K (2014) Internet of mobile things: challenges and opportunities. In: Proceedings of the 23rd international conference on Parallel architectures and compilation (PACT ’14). ACM, New York, pp 1–2Google Scholar
  4. 4.
    Talavera LE, Endler M, Vasconcelos I, Vasconcelos R, Cunha M, Silva FJdSe (2015) The mobile hub concept: enabling applications for the internet of mobile things. IEEE PerCom Workshops, St. LouisGoogle Scholar
  5. 5.
    Department Of Defense USA, Unmanned systems integrated roadmap 2013 - FY2013-2038, Approved for Open Publication, Reference Number: 14-S-0553, Available on line: http://www.defense.gov/pubs/DODUSRM-2013.pdf
  6. 6.
    Fortino G, Guerrieri A, Russo W (2012) Agent-oriented smart objects development. In: International conference on computer supported cooperative work in design (CSCWD), pp 907– 912Google Scholar
  7. 7.
    Pace P, Aloi G, Fortino G (2015) An application-level framework for uav/rover communication and coordination. In: IEEE International Conference on Computer Supported Cooperative Work in Design (CSCWD), pp 6–8Google Scholar
  8. 8.
    Briante O, Loscrí V, Pace P, Ruggeri G, Zema NR (2015) COMVIVOR: an evolutionary communication framework based on survivors’ devices Reuse. Wirel Pers Commun 85(4):2021–2040CrossRefGoogle Scholar
  9. 9.
    Heppner G, Roennau A, Dillman R (2013) Enhancing sensor capabilities of walking robots through cooperative exploration with aerial robots. Journal of Automation, Mobile Robotics & Intelligent Systems 7(2)Google Scholar
  10. 10.
    Yan Z, Jouandeau N, Ali Cherif A (2013) A survey and analysis of multi-robot coordination. Int J Adv Robot Syst. ISSN 1729–8806Google Scholar
  11. 11.
    Asadpour M., Van den Bergh B., Giustiniano D., Hummel K., Pollin S., Plattner B (2014) Micro aerial vehicle networks: an experimental analysis of challenges and opportunities. IEEE Commun Mag 52(7):141–149CrossRefGoogle Scholar
  12. 12.
    Maza I, Kondak K, Bernard M, Ollero A (2010) Multi-UAV cooperation and control for load transportation and deployment. J Intell Robot Syst 57(1–4):417–449CrossRefzbMATHGoogle Scholar
  13. 13.
    Sivakumar A, Tan CK-Y (2010) UAV swarm coordination using cooperative control for establishing a wireless communications backbone. AAMAS 3:1157–1164Google Scholar
  14. 14.
    Won J, Seo S, Bertino E (2015) A secure communication protocol for drones and smart objects. In: ACM symposium on information, computer and communications security - (ASIA CCS), New York, pp 249–260Google Scholar
  15. 15.
    Deng Q, Yu J, Wang N (2013) Cooperative task assignment of multiple heterogeneous unmanned aerial vehicles using a modified genetic algorithm with multi-type genes. Chin J Aeronaut 26(5):1238–1250CrossRefGoogle Scholar
  16. 16.
    Yang Y, Polycarpou MM, Minai AA (2007) Multi-UAV cooperative search using an opportunistic learning method. ASME J Dyn Syst Meas Control 129(5):716–728CrossRefGoogle Scholar
  17. 17.
    Lacroix S, Le Besnerais G (2011) Issues in cooperative air/ground robotic systems. Robot Res 66:421–432. Springer Tracts in Advanced RoboticsCrossRefGoogle Scholar
  18. 18.
    Khan A, Yanmaz E, Rinner B (2014) Information merging in multi-UAV cooperative search. In: IEEE international conference on robotics and automation (ICRA)Google Scholar
  19. 19.
    Mathews N, Christensen AL, O’Grady R, Dorigo M (2012) Spatially targeted communication and self-assembly. In: IEEE/RSJ international conference on intelligent robots and systemsGoogle Scholar
  20. 20.
    Joyeux S, Alami R, Lacroix S, Philippsen R (2009) A plan manager for multi-robot systems. Int J Robot Res 28(2):220–240CrossRefzbMATHGoogle Scholar
  21. 21.
    Gaujens A, Benini A, Mancini A, Longhi S (2014) Testing of cooperative tasks for unmanned aerial and ground platforms. In: International conference on mechatronic and embedded systems and applications, pp 1–6Google Scholar
  22. 22.
    Di Felice M et al (2013) STEM-Mesh: self-organizing mobile cognitive radio network for disaster recovery operations. In: IEEE international wireless communications and mobile computing conference (IWCMC)Google Scholar
  23. 23.
    Aloi G, Di Felice M, Loscrí V, Pace P, Ruggeri G (2014) Spontaneous smartphone networks as a user-centric solution for the future internet. IEEE Commun Mag 52(12):26–33CrossRefGoogle Scholar
  24. 24.
    Pace P, Aloi G, Caliciuri G, Fortino G (2015) Management and coordination framework for aerial-terrestrial smart drone networks. In: ACM International Workshop on Experiences with the Design and Implementation of Smart Objects, (SmartObjects ’15), Paris, pp 37–42Google Scholar
  25. 25.
    Fortino G, Garro A, Russo W (2008) Achieving mobile agent systems interoperability through software layering. Inf Softw Technol 50(4):322–341CrossRefGoogle Scholar
  26. 26.
    Wifibot Labv4 - http://www.wifibot.com/
  27. 27.
    Parrot AR.Drone 2.0 - http://ardrone2.parrot.com/
  28. 28.
  29. 29.
    The smallest stand alone industrial computer - Available on line: https://www.isee.biz/products/igep-processor-boards/igep-com-module-dm3730
  30. 30.
    OPENCV (Open Computer Vision) http://opencv.org/
  31. 31.
    Vassis D, Kormentzas G, Rouskas A, Maglogiannis I (2005) The IEEE 802.11g standard for high data rate WLANs. IEEE Netw 19(3):21–26CrossRefGoogle Scholar

Copyright information

© Springer Science+Business Media New York 2016

Authors and Affiliations

  • Pasquale Pace
    • 1
    Email author
  • Gianluca Aloi
    • 1
  • Giuseppe Caliciuri
    • 1
  • Giancarlo Fortino
    • 1
  1. 1.DIMES - University of CalabriaRendeItaly

Personalised recommendations