Proceedings - Conference on Local Computer Networks, LCN, 2011
Monitoring of Wireless Sensor Networks (WSNs) is a fundamental task to track the network behavior... more Monitoring of Wireless Sensor Networks (WSNs) is a fundamental task to track the network behavior and measure its performance in real-world deployments. In this paper, we present Z-Monitor, a monitoring and a protocol analyzer solution to control and debug IEEE 802.15.4-compliant Low Power Wireless Personal Area Networks (LoWPANs). Z-Monitor does not only support the analysis of well-known ZigBee, 6LoWPAN and RPL protocols, but is also designed to be modular and easily extensible for adding new protocols. The motivation behind the design and implementation of Z-Monitor is the fact that commercially-available products for monitoring and testing IEEE 802.15.4-compliant LoWPANs are mainly too expensive, and typically require special sniffing hardware. Z-Monitor represents a free and extensible solution, does not require special sniffing hardware, and provides comparable services to proprietary and commercial products. We also share our experimental study results that demonstrate the effectiveness of Z-Monitor in meeting its objectives.
Building distributed applications for cooperative service robots systems is a very challenging ta... more Building distributed applications for cooperative service robots systems is a very challenging task from software engineering perspective. Indeed, apart from the complexity of designing software components for the control of a single autonomous robot, cooperative multi-robot systems require additional care in the design of software components to ensure communication and coordination between the robotic agents. This chapter proposes COROS, a new multi-agent software architecture for cooperative and autonomous service robots with the objective to make easier the design and development of multi-robot applications. We present a high-level conceptual architecture for multi-agent robotics systems that represents a generic framework for cooperative multi-robot applications. Furthermore, we present an instantiation of this generic architecture with an implementation software architecture on top of the Robotic Operating System (ROS) middleware. The proposed concrete software architecture follows a component-based approach to ensure modularity, software reuse, extensibility and scalability of the multi-robot operational software. In addition, one major added value of our architecture is that it provides a tangible solution to supporting multi-robot software development for the ROS middleware, as ROS was originally designed for single-robot applications. We also demonstrate a sample of real-world case studies of cooperative and autonomous service robots applications in an office-like environment, including discovery and courier delivery applications.
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