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

 
 


pegame.JPG

 

 

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