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Networked Infomechanical Systems (NIMS) introduces a new actuation capability for embedded networked sensing. By exploiting a constrained actuation method based on rapidly deployable infrastructure, NIMS suspends a network of wireless mobile and fixed sensor nodes in three-dimensional space. This permits run-time adaptation with variable sensing location,(More)
When monitoring spatial phenomena, such as the ecological condition of a river, deciding where to make observations is a challenging task. In these settings, a fundamental question is when an active learning, or sequential design, strategy, where locations are selected based on previous measurements, will perform significantly better than sensing at an a(More)
We consider the problem of coverage and exploration of an unknown dynamic environment using a mobile robot. The environment is assumed to be large enough such that constant motion by the robot is needed to cover the environment. We present an efficient minimalist algorithm which assumes that global information is not available (neither a map, nor GPS). Our(More)
We describe an algorithm for robot navigation using a sensor network embedded in the environment. Sensor nodes act as signposts for the robot to follow, thus obviating the need for a map or localization on the part of the robot. Navigation directions are computed within the network (not on the robot) using value iteration. Using small low-power radios, the(More)
Monitoring of environmental phenomena with embedded networked sensing confronts the challenges of both unpredictable variability in the spatial distribution of phenomena, coupled with demands for a high spatial sampling rate in three dimensions. For example, low distortion mapping of critical solar radiation properties in forest environments may require(More)
We present a multi field distributed in-network task allocation (DINTA-MF) algorithm for online multi-robot task allocation (OMRTA) where tasks are allocated explicitly to robots by a pre-deployed, static sensor network. The idea of DINTA-MF is to compute several assignment fields in the sensor network and then distributively assign fields to different(More)
— Extended system lifetime is a critical requirement for wearable sensor platforms. However, these platforms must also accommodate local data processing, data storage, and broad-band wireless communications. Since compact battery storage capacity is constrained, there exists a fundamental tradeoff between energy optimization and performance. Furthermore,(More)
In this paper, we present a novel linear-program formulation that yields "optimally safe" (OS) tension distributions in parallel cable-driven robots by the introduction of a slack variable. The slack variable also enables explicit computation of a near-optimal, feasible starting point. This, in turn, enables rapid computation of the OS tension(More)