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Learning Navigation For Recharging A Self-Sufficient Colony Robot, Gary Parker, Richard Zbeda
Learning Navigation For Recharging A Self-Sufficient Colony Robot, Gary Parker, Richard Zbeda
Computer Science Faculty Publications
It is advantageous for colony robots to be autonomous and self-sufficient. This requires them to perform their duties while maintaining enough energy to operate. Previously, we reported the equipping of power storage for legged robots with high capacitance capacitors, the configuration of one of these robots to effectively use its power storage in a colony recharging system, and the learning of a control program that enabled the robot to navigate to a charging station in simulation. In this work, we report the learning of a control program that allowed the simulated robot to perform area coverage in a self-sufficient framework …
Optimal Layout Of Multicast Groups Using Network Embedded Multicast Security In Ad Hoc Sensor Networks, Richard R. Brooks, Brijesh Pillai, Michele C. Weigle, Matthew Pirretti
Optimal Layout Of Multicast Groups Using Network Embedded Multicast Security In Ad Hoc Sensor Networks, Richard R. Brooks, Brijesh Pillai, Michele C. Weigle, Matthew Pirretti
Computer Science Faculty Publications
This paper considers the security of sensor network applications. Our approach creates multicast regions that use symmetric key cryptography for communications. Each multicast region contains a single keyserver that is used to perform key management and maintain the integrity of a multicast region. Communications between two multicast regions is performed by nodes that belong to both regions. To ease the network management burden, it is desirable for the networks to self-organize into regions and dynamically select their keyservers. This paper shows how to determine the number of keyservers (k) to use and the size in the number of hops (h) …