CHAPTER 1

INTRODUCTION

As VLSI technology advances and computing power grow in the past decades,
robots became more and more intelligent, robust and power-efficient. They are required to
handle more and more so-called teamwork. It means that they must be developed to possess the
capability of constructing a network and performing cooperative work. A key driving force in the
development of cooperative mobile robotic systems is their potential for reducing the need for
human presence in dangerous applications.

The elements of danger clearly exist in such applications as the disposal of toxic waste, nuclear
power processing, firefighting, military or civilian search and rescue missions, planetary
exploration, security, surveillance, and reconnaissance tasks. In these cases, wireless
communication provides the low cost solutions for mobile robot networks to cooperate
efficiently.

An ad-hoc network communication system based on the mobile robots as communication nodes
is deemed suitable because it can offer a robust communication infrastructure. In this paper we
present a mobile ad-hoc network being able to be used in large burning industrial warehouses.
The network has to support the fire fighters and the assisting group of robots with a
communication infrastructure as well as position data. One of the most important features of the
network is its robustness in terms of available communication links and position data to
maximize safety for fire fighters.

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1.1 Communication System

The main objective of the communication system is to provide the team of robots and humans
inside a building full of smoke with robust communications links. The idea is to establish an ad-
hoc network with mobile nodes that provides the fire fighters as well the robots with both a
communication infrastructure and position data. As depicted in figure 1.1 the robots span a mesh
of nearly equilateral triangles. Between the robots and humans and among neighboring robots
there is short range communication. A long range communication link, which is realized by
multi-hop connections, takes place between the base/control station and the team on site. Such a
link is used to exchange data mainly for monitoring the operation.

Figure 1.1 Mobile ad-hoc communication network with integrated human team member and
link to base station for monitoring the operation

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CHAPTER 2
LITERATURE SURVEY

We have gone through the different types of paper based on Secure Multipath Routing for
Mobile Ad Hoc Networksand has been reported in the literature. However, few relevant and
significant works are reviewed here.

Author [1]
Jacques Penders and Lyuba Alboul ,Veysel Gazi
Ad-hoc network communication infrastructure for multi robot systems in disaster
scenarios-
Mobile ad-hoc networks (MANETs) are communication networks that do not rely on
fixed, preinstalled communication devices like base stations or predefined communication cells.
MANETs are wireless networks consisting of mobile nodes which are characterized by their
decentralized organization and the potentially high dynamics of the network structure. Therefore,
MANETs are ideally suitable for applications with multi-robot systems. One of the most
promising applications of a multi-robot system is to assist humans in urban search and rescue
(USAR) scenarios in the aftermath of natural or man-made disasters. We are focusing on an ad-
hoc network communication system with the mobile robots being communication nodes offering
a robust communication infrastructure

Author [2]
Lubaid Ahmed
Trust-enhanced secure multipath routing for mobile ad hoc networks:-

Due to recent advances in computing and communication technologies, Mobile Ad hoc

Networks (MANETs) are becoming networks of choice for various applications such as
emergencies preparedness and response, military and crisis management, and healthcare, to name
a few. The main reason for this is that in MANET, information exchange between nodes can
happen dynamically without pre-existing fixed network infrastructure with designated

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centralized access points. However, this privilege also comes with some security drawbacks,
especially from a message security viewpoint because the implementation of hard-cryptographic
security now becomes a challenging prospect. In this thesis, we improve a recently proposed
method of message security in MANET (so called benchmark scheme, also referred to as trust
based multipath DSR routing scheme), by introducing a trust model that makes multi-path
routing flexible enough to avoid non-trusted routes that may use brute force attacks to decrypt
messages travelling through the network en route to their destinations. Simulation results,
coupled with theoretical justification, affirm that the proposed solution is much more secured
than the above-mentioned benchmark method and traditional multi-path routing algorithms.

Author [3]
Binodvaidya, Jae Young Pyun
Secure Multipath Routing Scheme for Mobile Ad Hoc Network:-
Mobile ad hoc networks (MANETs) are collections of autonomous mobile nodes with
links that are made or broken in an arbitrary way. Due to frequent node and link failures,
multipath MANET is preferred than single-path MANET in many applications. Multipath
routing schemes are used for achieving various goals such as robustness, reliability, and load
balancing. However, before they can be successfully deployed several security threats must be
addressed. Due to lack of fixed infrastructure, security in ad-hoc routing is challenging task,
especially in multipath MANET. In this paper, we propose a robust multipath routing scheme for
MANET and also security mechanism for such a routing scheme. We discuss security analysis
for our scheme. And we conduct simulation to evaluate the cost of the proposed secure multipath
routing scheme and present some preliminary results.

Author [4]
A.Praveena, R.Sangeetha, P.E.Prem
Efficient Trusted Secure Ad-Hoc OnDemand Multipath Distance Vector In MANET:-
A mobile Ad-hoc network is a continuously self configuring infrastructure less network
of mobile device connected wirelessly. Each device in MANET is free to move independently in
any direction. Routing in MANET is extremely challenging because of MANETs dynamic
features, its limited bandwidth and power energy. Therefore MANET is exposed to series attack.

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This paper extends an Ad hoc On-Demand Multipath Distance Vector (AOMDV) Routing
protocol is based on the nodes routing manners. The proposed Trusted Secure AOMDV aims at
identifying and separating the attacks such as flooding, black hole, and gray hole attacks and
given that energy saving in MANET. TSAOMDV using Intrusion Detection System (IDS) and
trust-based routing, to identify the attacks and seclusion are carried out in two phases of routing.
The IDS friendly with each node performs operations in both the route discovery and data
forwarding phases. To improve the routing performance, the IDS integrate the measured
information into the TSAOMDV routing protocol for the detection of attackers and using energy
saving routing to save energy by colourings model. The sensor node get changed the colour by
the node performance. This facilitates the energy efficient TS-AOMDV to provide better energy
saving security in MANET.

Author [5]
Young Li ,Younghan Kim
Robot Swarm MANET Cooperation Based on Mobile Agent:-
MANET is pervasive for the communication of a group of mobile robot or robot swarm.
To facilitate the cooperation between mobile robots which fulfill a complicated task or monitor
an area, MANET cooperation based on mobile agent is presented in this paper. For decreasing
the overhead of communication, robot swarm MANET is clustered. Mobile agents (MAs) move
around the cluster heads of the network and exchange service robot information with arrived
cluster head. Robot which takes the role of cluster member only communicates with its cluster
head robot for information of other robot. A fire-fighting robot swarm MANET is simulated and
the cooperation between fire-fighting robots is optimized. Simulating results indicate that
cooperation based on mobile agent provides an efficient framework for robot swarm cooperation
and optimization.

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Author [6]
Zhigang WANG, Lichuan LIU and MengChu ZHOU
Protocols and Applications of Ad-hoc Robot Wireless Communication
Networks: An Overview:-
Communications and communication protocols play an important role in mobile robot
systems. They enable the latter to address many real world applications. Since the advent of high
performance wireless local area network (WLAN) and ad hoc networking technology at
relatively low cost, their use for wireless communications among mobile robots has become a
practical proposition. However, in a large system with many mobile robots, it becomes difficult
for all robots to exchange information at a time because of their limited communication
capacities. In this case, an ad-hoc robot networking scheme is more promising. This paper
focuses on this scheme by presenting the background of mobile ad hoc networks, ad-hoc robot
wireless communications, and their applications. It serves readers with a comprehensive review
of ad-hoc robot wireless communications and indication of the future research issues.

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CHAPTER 3
SYSTEM DESIGN

3.1 BACKGROUD OF MANET:

MANET is the collection of mobile nodes that form a temporary network. The network often has
a dynamic and unpredictable topology. In such a network there is no centralized administration
or standard support services. Moreover, each host is as an independent router. Hosts use wireless
RF transceivers as network interface. They have limited bandwidth, power supply, and limited
transmitter range. The network allows multiple radio hops but it lacks of symmetrical links. Ad
hoc routing protocols can be broadly categorized into proactive and reactive protocols.

Proactive Routing Protocols:

Destination-Sequenced Distance-Vector Routing protocol (DSDV) is based on the Bellman Ford
algorithm for shortest paths and ensures that there is no loop in the routing tables. Every node in
the network maintains the next hop and distance information to every other node in the network.
Routing table updates are periodically transmitted throughout the network to maintain table
consistency. Link-State Routing (LSR) is a proactive protocol in which each node floods the cost
of all the links to which it is connected. Every node calculates the cost of reaching every other
node using shortest path algorithms. Moreover, the protocol can work correctly even if one-way
links are present while DSDV assumes two-way links.

Reactive Routing Protocols:

In contrast to proactive ones, reactive protocols create routes only when desired. This means that
an explicit route discovery process creates routes and this is initiated only on an as-needed basis.
It can be either source initiated or destination-initiated. Once a route has been established, the
route discovery process ends, and a maintenance procedure preserves it until the route breaks
down or is no longer desired. Ad-Hoc On-Demand Distance Vector (AODV) routing protocol is a
reactive one although it is based on the distance vector algorithm like DSDV.

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3.2 Mobile Robot networking layered model:

Mobile robot wireless networks provide the networking infrastructure to support the quality of
service (QoS) needs (bandwidth, latency and reliability) of robot communications. They must
support: quick reconfiguration (802.11, token ring [Sugiyama), mobility management (mobile IP,
AODV), service level agreement (SLA) management, and QoS (mobile Internet Protocol).
Figure 3.1 gives a layered model of mobile robot networking. It has transport, network, datalink,
and physical layers.

Figure.3.1 Mobile robot networking layered model

In the system of cooperative multiple mobile robots, communications among them are critically
important. Each robot should exchange the information collected through its sensors and
negotiate its task scheduling with other robots. These robotic communications are executed
through the random access telecommunication among mobile robots. Experiments of robotic
communication among several robots are reported using wireless LAN or infrared sensory
system. Wireless LAN devices that make use of spread-spectrum modulation and a UHF carrier
(typically 2.4 GHz) offer the potential for high message data rates over a reliable physical layer
implementation. Specially, the model called Murdoch used a publish/subscribe messaging model
to coordinate autonomous robots. However, the applicability of these systems to a large number
of robots remains to be demonstrated. However, the communication service area is restricted by
the positions of base stations.

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CHAPTER 4
FLOW CHART

YES
Flow chart 4.1

CHAPTER 5
RESULT

The wireless communication link is characterized by long bandwidth-delay, dynamic

connectivity, and error prone transmission. The robots are often equipped with low-cost low-
power short-range wireless network interfaces, which only allow direct communication with
their near neighbors. Hence, it is virtually impossible for each node to know the entire network
topology at any given time. Under these circumstances the only practical approach to distributed
command, control and sensing is to employ an ad hoc wireless networking scheme.

5.1 Communication Data:

Figure 5.1 Communication Data

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5.2 Robot control and communication strategies:

Successful control and coordination of a group of wireless-networked robots relies on effective

inter-robot communication. Robot controllers should be robust with respect to unpredictable and
highly dynamic environment; due to the naturally hostile characteristic, controllers must also
contend with imperfect wireless communication. Apparently the network is also part of the
robots environment and can contribute to the system's success or failure. At the simplest level,
communication may succeed or fail between two nodes. Robots typically operate under strict real
time constraints fast navigation and dynamic environments require that control inputs are
acquired in a timely manner. Heavy load on a wireless network increases the average data
transmission time, and reduces the frequency response of controllers. Thus it may reduce the
capability of the controller. Reducing load by more efficient communication can decrease latency
and allow robots to be more responsive to dynamic environments

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CHAPTER 6
APPLICATION

6.1 Cooperative work:

To facilitate the commercial settings, necessity for concerted computing is very
significant external to office atmosphere and surroundings as compared to inner
environment. People want getting outside meetings for exchanging the information plus
cooperating with each other regarding any assigned task.

6.2 Medicine:
Liberation operations, tragedy recovery, diagnosis or status or record handing in
hospitals, replacement of stationary infrastructure.

6.3 Military:
In a battlefield, communication between soldiers and vehicles can be carried out
using ad hoc networks. In such networks, the soldier troops might communicate with
each other using hand-held devices. The vehicle mounted devices can be equipped with
power sources for “recharging” these mobile devices.

6.4 Rescue Operation

In scenarios such as firefighting or avalanche rescue operations, a quick deployment of
nodes is required. Ad hoc networks can be used in such scenarios for communication
between the workers.

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CHAPTER 7
ADVANTAGES

7.1 Robot soccer games:

In different types of robot soccer players take part in some official robot soccer games organized
by various robot soccer organizations. For example, FIRA Cup. CENDORI and SOCCERBOT
allow the robot team to deploy the wireless LAN devices that are based on 802.11 standard.
Bluetooth ad hoc network is adopted to coordinate the team performance.

7.2 Rescue and recovery operations:

Robot teams can play an important role in disaster recovery such as earthquake rescue operations
or nuclear plant accidents. By means of ad hoc networks, robots can coordinate their activities
with reliable communication regardless the conditions of all fixed infrastructures. This area
becomes more and more important.

7.3 Explosive ordnance or hazardous materials disposal:

In the Mobile Detection Assessment and Response System (MDARS), mobile robots were
organized in a centralized way in a large warehouse near San Diego to detect intruders and
anomalous conditions such as flooding or fires. It was proved that an ad hoc network could
provided more flexibility and robustness in a highly mobility environment than WLAN.

7.4 Unmanned Vehicles:

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Unmanned Aerial Vehicles (UAVs) and Unmanned Marine Vehicles (UMV) are emerging as a
viable and cost effective alternative to space and ocean surveillance. These teams must operate in
remote regions with little or no infrastructure. Hence, the autonomous teams of UAVs and UMVs
are organized into a MANET. Such configurations can result in relatively stable topologies and
thus robust communications.

CHAPTER 8
CONCLUSIONS

Ad hoc mobile robot communications are a promising networking technology. Yet ad hoc
robot communication represents a relatively underdeveloped application field. The paper
discusses ad hoc protocols and analyzes energy conservation routing protocols whose system
performance metric is energy saving. Other metrics such as connectivity, throughput, accuracy,
security, robustness and bandwidth efficiency, should also be considered in measuring the system
performance. In the design of wireless robot networks, we need to evaluate overall performances
with respect to practical requirements. In an energy-constrained environment, protocols should
pay more attention to energy consumption, but for a real time image-sensing task, system
throughput and bandwidth utilization are more important. Therefore, different protocols need to
be developed to optimize different metrics for different applications. Moreover, future research is
required to develop prioritized protocols so that a system can deploy protocols according to the
priority of performance metrics in real time. Additional work is needed to ensure secure
communication. Good tradeoff between security and performance requirements must be
carefully made. This field clearly requires significant research efforts.

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CHAPTER 9
BIBHOGRAPHY

[1] Jacques Penders and LyubaAlboul ,VeyselGazi “AD- HOC Network Communication
Infrastructure forMulti Robot System”

[2] Lubaid Ahmed “Trust-enhanced secure multipath routing for mobile ad

hoc networks” Ryerson University,2010.

[3] Kulkarni R. V., Venayagamoorthy, G. K., Miller, A., and Dagli, C. H.

Network-centric
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[4] Sahin, Safak, C., Elkin Urrea, Uyar, M.U., Conner, M., Hokelek, I., Bertoli,
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