NEST Demo: Distributed Control

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NEST Demo Distributed Control

• Or, Catch the Bad Guy

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System Requirements

• Locate an evader in a sensor network
• Transport evader data out of network
• Use evader information for real-time control
• Tracking system
• Autonomous pursuer
• Demo Team Jason Hill, Philip Levis, Kamin
  Whitehouse, Sarah Bergbreiter, Bruno Sinopoli,
  Luca Schenato, Shawn Schaffert

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System Architecture
Sensor Network
Tracker
Evader
Pursuer
Data Processing
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Sensing

• Magnetometer
• Evader (adversary)
• Delta, steady, drift
• Jason
• Sounder / tone detector
• Pursuer (cooperative)
• Time of flight / ranging
• Kamin

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Local Data Aggregation, Transport

• Local advertisement of readings
• Local data aggregation
• Group leader selection
• Link-level acknowledgements
• Geographic routes
• Rotating parent selection
• Jason

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Data Processing

• Evader path estimation from magnetometer
• Luca
• Pursuer position estimation from sounder
• Kamin

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Tracker

• Calibrate to regular mote grid
• Transform sensor readings to camera coordinate
  space
• Actuate camera
• Using PC Shawn and Luca
• Using mote Phil

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Pursuer

• Given estimated position data, catch evader
• Limited robotic control (simple car)
• Interfacing TinyOS to robot hardware
• Sarah and Bruno
• Incomplete

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Coming up next

• In-depth presentations on individual pieces of
  system