Particle filter-assisted ad hoc routing in a multi-hop wireless ad hoc network for multi-robots
1
조회
0
다운로드
1
인용
0
참고문헌
키워드
초록
We describe in this paper how to facilitate ad hoc routing with a particle filter in a hostile radio environment for multi-hop wireless ad hoc networks that connect multi-robots. The proposed scheme increases a connection's throughput by exploiting alternative links without going through the procedure of route discovery when link failure happens among multi-robots' networking. The scheme is implemented by using a particle filter to find strongly connected nodes. The filter estimates the probability distribution function in a sample-based manner with N particles. The particles are associated with a weight which represents the probability of the corresponding node to be the node with the best link. At every step of the estimation, the weights of particles are calculated and particles are resampled based on the weights. Since a node with the strongest link status possesses the largest number of particles, we take this node to forward the packets.
Abstract
We describe in this paper how to facilitate ad hoc routing with a particle filter in a hostile radio environment for multi-hop wireless ad hoc networks that connect multi-robots. The proposed scheme increases a connection's throughput by exploiting alternative links without going through the procedure of route discovery when link failure happens among multi-robots' networking. The scheme is implemented by using a particle filter to find strongly connected nodes. The filter estimates the probability distribution function in a sample-based manner with N particles. The particles are associated with a weight which represents the probability of the corresponding node to be the node with the best link. At every step of the estimation, the weights of particles are calculated and particles are resampled based on the weights. Since a node with the strongest link status possesses the largest number of particles, we take this node to forward the packets.
참고문헌 (5)
- C.E.Perkins, "Ad hoc on-demand distance vector routing", Proc.IEEE Workshop on Mobile Computing Systems and Applications, pp.99~100 (1999)
- S.Biswas, "ExOR:opportunistic multi-hop routing for wireless networks", Proc.ACM SIGCOMM, pp.133~144 (2005)
- S.Arulampalam, "A tutorial on particle filters for on-line non-linear", non-Gaussian Bayesian tracking, 2002, pp.50(2), 174~188
- L.Mihaylova, "Mobility tracking in cellular networks using particle filtering", IEEE Trans.on Wireless Communications, 6(10), pp.589~3599 (2007)
- C.Fernández-Prades, "Rao-blackwellized variable rate particle filtering for handset tracking in communication and sensor networks", European Signal Processing Conference (2007)