Catch Me if You Can, August 2005
In this project, we demonstrated a multiple pursuer
multiple evader tracking application using wireless sensor networks at Richmond
Field Station, Berkeley in August 2005. A sensor network barrier is laid to
protect a valuable asset. We modeled the system as a differential pursuer
evader game. The goal of the pursuers is to maximize the distance of evaders
from the asset while the evaders' goal is to minimize the distance.
Modeling tracking application as zero-sum game Pursuer goal: Maximize
distance to asset Evader goal: Minimize
distance to asset
My major role in this project was designing
and implementing two network services, Trunk and Trail, for distributed object
tracking in a reliable and energy efficient manner. The services were
implemented on XSMs (Extreme Scale Motes) using the TinyOS platform. The
tracking services were experimentally validated in a network of 105 motes in a
wireless network testbed at The Ohio State University. The pursuer applications were implemented on
Garcia robots and were demonstrated to track the evaders.
Demonstrating tracking application using Garcia robots
Publications
1. V. Kulathumani, M. Demirbas, A. Arora, M.
Sridharan, Trail: A Distance Sensitive Network Protocol for
Distributed Object Tracking
, EWSN 2007, ACM TOSN
2. Hui Cao, Emre Ertin, Vinodkrishnan
Kulathumani et al., Differential
Games in Large Scale Sensor Actuator Networks , IPSN'06.
3. V. Kulathumani, M. Sridharan, A. Arora, Energy efficient network services for object tracking, Technical report, The Ohio state university
Data
Raw PIR traces collected at Richmond Field Station, Berkeley
Sensor
detection messages collected
at Richmond Field Station, Berkeley