Dipartimento di Ingegneria informatica, automatica e gestionale

Networking and robotics are increasingly coming together to meet the requirements of applications that only advances in both fields can enable. This paper explores one of these joint applications, namely, using a robotic platform such as an Unmanned Aerial System (UAS) to wirelessly retrieve data produced by the devices of a sensor network. For energy conservation purposes devices operate according to a set duty cycle, or are endowed with wake-up radio transceivers allowing them to transmit and receive data only when needed. We define two simple UAS-aided data collection strategies depending on whether the devices use duty cycling or can be woken up by the visiting UAS. The performance of the two strategies is evaluated by using GreenCastalia, an open source simulator extended to model duty cycles, wake-up radio capabilities and the mobility of the UAS. We compare the two strategies with respect to the amount of data the UAS can collect in its visit, the energy consumption of the devices and the corresponding network lifetime. Our results show the key role of low-cost, low-energy consumption wake-up receivers in providing ways of collecting all data from the sensing devices while consuming a negligible fraction of the energy required to devices operating with a duty cycle. As a result, the lifetime of wake-up radio-based networks is orders of magnitude higher than that afforded to networks with duty cycling: Many decades vs. the very few years of networks with extremely low duty cycles.