Robust and Efficient Self-Adaptive Position Tracking in Wireless Embedded Systems

2015 ◽  
Author(s):  
Ramil Agliamzanov ◽  
Onder Gurcan ◽  
Assia Belbachir ◽  
Kasim Sinan Yildirim
Keyword(s):  
Embedded Systems ◽  
Position Tracking ◽  
Self Adaptive

Modeling and Design of Fault-Tolerant and Self-Adaptive Reconfigurable Networked Embedded Systems

2006 ◽  
Vol 2006 ◽  
pp. 1-15 ◽  
Author(s):  
Thilo Streichert ◽  
Dirk Koch ◽  
Christian Haubelt ◽  
Jürgen Teich
Keyword(s):  
Embedded Systems ◽  
Fault Tolerant ◽  
Networked Embedded Systems ◽  
Self Adaptive

scholarly journals Self-adaptive Monte Carlo localization for mobile robots using range finders

Robotica ◽  
2011 ◽  
Vol 30 (2) ◽  
pp. 229-244 ◽  
Author(s):  
Lei Zhang ◽  
René Zapata ◽  
Pascal Lépinay
Keyword(s):  
Monte Carlo ◽  
Mobile Robots ◽  
Position Tracking ◽  
Localization Algorithm ◽  
Global Localization ◽  
Adaptive Monte Carlo ◽  
Local Sample ◽  
Monte Carlo Localization ◽  
Sample Set ◽  
Self Adaptive

SUMMARYIn order to achieve the autonomy of mobile robots, effective localization is a necessary prerequisite. In this paper, we propose an improved Monte Carlo localization algorithm using self-adaptive samples (abbreviated as SAMCL). By employing a pre-caching technique to reduce the online computational burden, SAMCL is more efficient than the regular MCL. Further, we define the concept of similar energy region (SER), which is a set of poses (grid cells) having similar energy with the robot in the robot space. By distributing global samples in SER instead of distributing randomly in the map, SAMCL obtains a better performance in localization. Position tracking, global localization and the kidnapped robot problem are the three sub-problems of the localization problem. Most localization approaches focus on solving one of these sub-problems. However, SAMCL solves all the three sub-problems together, thanks to self-adaptive samples that can automatically separate themselves into a global sample set and a local sample set according to needs. The validity and the efficiency of the SAMCL algorithm are demonstrated by both simulations and experiments carried out with different intentions. Extensive experimental results and comparisons are also given in this paper.

Survey of Self-Adaptive NoCs with Energy-Efficiency and Dependability

2012 ◽  
Vol 3 (2) ◽  
pp. 1-22 ◽  
Author(s):  
Liang Guang ◽  
Ethiopia Nigussie ◽  
Juha Plosila ◽  
Jouni Isoaho ◽  
Hannu Tenhunen
Keyword(s):  
Energy Efficiency ◽  
Embedded Systems ◽  
Adaptive System ◽  
Process Variations ◽  
Communication Architecture ◽  
Technology Scaling ◽  
Future Design ◽  
Self Adaptation ◽  
On Chip ◽  
Self Adaptive

The self-adaptive Network-on-Chip (NoC) is a promising communication architecture for massively parallel embedded systems. With constant technology scaling and the consequent stronger influence of process variations, the necessity of run-time monitoring and adaptive reconfiguration becomes widely acknowledged. This article presents a survey of existing techniques and methods, in particular for energy efficiency and dependability. The article firstly examines the motivation of self-adaptive computing in parallel embedded systems. A self-adaptive system model is abstracted, which is composed of goals, monitoring interface, and self-adaptation. Based on the model, the authors extensively survey previous works addressing adaptive NoCs with different monitoring techniques and reconfiguration methods, for power/energy optimization and dependability enhancement. Several design examples are elaborated which serve proper guiding purposes. The authors also identify important issues which are often overlooked or deserve more attention. The article provides review and insight for future design on this topic.

Modeling and Design of Fault-Tolerant and Self-Adaptive Reconfigurable Networked Embedded Systems

2006 ◽  
Vol 2006 (1) ◽  
pp. 042168 ◽  
Author(s):  
Thilo Streichert ◽  
Dirk Koch ◽  
Christian Haubelt ◽  
Jürgen Teich
Keyword(s):  
Embedded Systems ◽  
Fault Tolerant ◽  
Networked Embedded Systems ◽  
Self Adaptive
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