Heterogeneous IoT Mobility Framework for Mobile Robot Agents

Mobility management is a key issue to achieve uninterrupted Internet services in IP based network. In IPv6, the mobility management is realized by its mobile version namely the Mobile IPv6 (MIPv6). The MIPv6 is further extended to Hierarchical MIPv6 (HMIPv6) to reduce handoff latency suffered by mobile nodes and signaling load incurred due to movement if nodes within the micro mobility region defined by HMIPv6. The HMIPv6 is considered as first widely accepted layered architecture for mobility management for IPv6 network. Influenced by the benefits of HMIPv6, many researchers have suggested extension of MIPv6 into multiple layers. However, there is very little work on finding optimal levels of hierarchy in such layered architecture. The focus of this paper is to evaluate the performance of a multilayer (N-layered with N as 5) MIPv6 architecture through experimental testbed. We have observed handoff latency, signaling overhead and tunneling cost and figured out the optimal levels of hierarchy that provides the best acceptable results for all the observed parameters. Since, HMIPv6 outperforms MIPv6 in terms of handoff latency and signaling cost, so we compare our results with HMIPv6. Testbed observation depicts that three levels of hierarchy in MIPv6 architecture provides optimal performance with 27 % reduction in handoff latency and 67 % reduction in signaling overhead compared to single layer architecture like Hierarchical MIPv6 (HMIPv6) protocol.

In this paper, a new approach is proposed to reduce handoff operation in IEEE 802.16e network. Traditional mobile approaches, such as mobile IPv6 (MIPv6) and hierarchical MIPv6 (HMIPv6), can support smoothly handoff. These approach, ,unfortunately, suffer large handoff delay and packet lost in macro mobility for mobile users. With the aid of the partner node, DAD operation can be pre-executed by the partner node before the mobile node initialize the handoff request, we propose a cross-layer partner based fast handoff mechanism based on HMIPv6 in IEEE 802.16e network, called as P_HMIPv6 protocol. The P_HMIPv6 protocol is a cross-layer, layer 2 and layer 3, approach. The partner station (PS), which is a new component with relay ability and adopted by our protocol, is a static mobile station (MS). With the aid of the PSs, care-of address (CoA) can be pre-acquired and DAD operation can be pre-executed by the PS before the MS initials the layer 2 handoff. The simulation results show that P_HMIPv6 protocol actually achieves the performance improvements in the handoff delay time and the packet loss.

Hierarchical mobile IPv6 (HMIPv6) is an enhanced mobile IPv6 in order to reduce signaling overhead and to support seamless handoff in IP-based wireless/mobile networks. To support more scalable services, HMIPv6 can be organized as a multilevel hierarchy architecture (i.e, tree structure). However, since the multi-level HMIPv6 results in additional packet processing overhead, it is necessary to consider the overall cost and to find the optimal level to minimize the overall cost. In this paper, we investigate this problem, namely the design of a multi-level HMIPv6 with optimal hierarchy. To do this, we formulate the location update cost and the packet delivery cost in the multi-level HMIPv6. Based on the formulated cost functions, we present the optimal hierarchy level in the multi-level HMIPv6 to minimize the total cost. In addition, we investigate the effects of session-to-mobility ratio (SMR) on the total cost and the optimal hierarchy. The numerical results, which show various relationships among network size, optimal hierarchy, and SMR, can be utilized to design an optimal HMIPv6 network.

Mobile robot is an important developing direction in the field of robotics, it is widely used in Industrial Internet of Things (IIoT) environment, agriculture, military, transportation, services with the coming of 5G wireless communication technology. Automatic navigation control technology is the core in these research areas, which is also the key technology for mobile robot to achieve intelligentization and autonomation.The article discusses and researches the neural network technology and its application in mobile robot navigation control. For the characteristics and research of mobile robot navigation problem, it finds the way to improve the mobile robot intelligentization, level of the self-organization, self-learning and adaptive capability. The combination of neural network with other intelligent algorithms solves autonomous navigation problem of the mobile robot in the complex uncertain environments and unknown variable environments. The mobile robot navigation control problem using fuzzy neural network can achieve a more effective real-time navigation control performance through amending the network weights by self-study according to the navigation priori knowledge of human experts.

Proxy mobile Internet protocol version 6 (PMIPv6) is a network-based mobility management protocol proposed by Internet Engineering Task Force (IETF), which allows nodes to remain service connectivity while moving around in the IPv6 Internet. PMIPv6 is different from the host-based mobility management protocols (mobile Internet protocol version (MIPv6), hierarchical mobile IPv6 (HMIPv6), fast handover for mobile IPv6 (FMIPv6), and fast handover in hierarchical mobile IPv6 (F-HMIPv6)), whose signaling are transferred among some network entities except mobile node (MN). This paper focuses on the analytical modeling of performance analysis for PMIPv6 and other protocols using IEEE802.16-based wireless metropolitan area networks as the wireless access network. The performances of these protocols are evaluated by some metrics like handover latency, service disruption time, and binding update cost. Numerical results show that PMIPv6 has better performance.

As the number of mobile users is increasing day by day, we need to pay attention to support mobility and its management. Mobile IP is used to maintain mobility information when a mobile user moves from one location to the other while its permanent address remains unchanged. Mobile IPv6 (MIPv6) is introduced to overcome the problems of MIPv4 and bring improvements in the performance of the protocol. MIPv6 performs well for micro-mobility but suffers for macro-mobility. Hierarchical Mobile IPv6 (HMIPv6) is developed to separate micro-mobility and macro-mobility. But HMIPv6 could not out-perform for macro-mobility when a mobile node moves from one MAP domain to the other. Many schemes are proposed to reduce handover latency and bring efficiency for macro-mobility, but still this problem affects the performance of HMIPv6. In this paper, we carry out a survey of different binding update schemes for inter-domain mobility management in HMIPv6. At the end, a detailed comparison is given for all the discussed schemes.

Hierarchical mobile IPv6 (HMIPv6) has long been prevailing in the realm of effective micromobility management. The HMIPv6 protocol, associated with mobile IPv6, supports route optimization to resolve 'triangle-routing' problem, and enables local route registration within a MAP domain to reduce the amount of network-wide signaling traffic. But most of the researches on micromobility related protocol were focused on access networks with tree topology, which have severely limited flexibility and scalability of access networks. In this paper, a novel local route optimization scheme is proposed to facilitate applying HMIPv6 to access networks with various topologies. By dynamically optimizing route to the mobile anchor point according to access network topologies, the new scheme could significantly reduce signaling overhead, handoff latency and packet loss.

Internet engineering task force (IETF) has proposed hierarchical mobile IPv6 (HMIPv6) in order to reduce a frequent location registration of a mobile node in mobile IPv6 (MIPv6). All traffics toward a mobile node must be transmitted through a MAP in HMIPv6. This brings unnecessary packet latency because of the increased processing cost of packet at the MAP. At this point, the processing cost of packet at the MAP is influenced by the packet arrival rate for a mobile node, cell mobility rate and the number of mobile nodes in MAP domain. In this paper, we analyze the MAP's performance considering the above elements. For this, we compare total cost of HMIPv6 with total cost of MIPv6 as MAP's capability after we define Markov chain model for performance analysis. Also, we define network's total profit as total cost of MIPv6 minus total cost of HMIPv6. Then, we can find optimal capability of MAP such that total profit has maximum value. Also, we use the blocking probability by the MAP's capability as performance estimation element. As a conclusion, we can-observe both HMIPv6's performance by the MAP's capability and optimal capability of the MAP, and blocking probability form a relationship of trade off between them.

Mobile IPv6 (MIPv6) and its variants provide mobility support to the mobile nodes within an IP network. Hierarchical MIPv6 (HMIPv6) is an improvement on legacy MIPv6 which uses layered approach to provide low cost signaling in the environments where handovers take place frequently. Because HMIPv6 is a host-assisted handover mechanism, the wireless link of the mobile node acts as a serious bottleneck on its performance. This paper seeks to use the newly developed notion of software-defined networks (SDN) to modify HMIPv6. The idea is to use the SDN concepts during the handover process to minimize the involvement of the mobile node.

Unknown hostile environment-oriented autonomous WSN deployment using a mobile robot

The mobility support protocols are separated by two categories, such as host-based mobility support protocols and network-based mobility support protocols. Mobile IPv6, Fast Handover for Mobile IPv6, and Hierarchical Mobile IPv6 are the type of host-based mobility support protocol and Proxy Mobile IPv6 is the type of network-based mobility support protocol. In the mean while, different network domains that support individual mobility support protocols need a way to interact between each other. In this paper, we focus on the interaction between Mobile IPv6 and Proxy Mobile IPv6. We propose the Hybrid Proxy Mobile IPv6 Indication mechanism that helps to indicate the type of protocol selected by the network or the mobile node. We devise several interaction scenarios and then present performance evaluation results based on the devised scenarios.

Mobile Robot is an extremely essential technology in the industrial world. Optimal path planning is essential for the navigation of mobile robots. The firefly algorithm is a very promising tool of Swarm Intelligence, which is used in various optimization areas. This study used the firefly algorithm to solve the mobile robot path-planning problem and achieve optimal trajectory planning. The objective of the proposed method is to find the free-collision-free points in the mobile robot environment and then generate the optimal path based on the firefly algorithm. It uses the A∗ algorithm to find the shortest path. The essential function of use the firefly algorithm is applied to specify the optimal control points for the corresponding shortest smooth trajectory of the mobile robot. Cubic Polynomial equation is applied to generate a smooth path from the initial point to the goal point during a specified period. The results of computer simulation demonstrate the efficiency of the firefly algorithm in generating optimal trajectory of mobile robot in a variable degree of mobile robot environment complexity.

The paper is concerned with the region tracking control problem of multiple nonholonomic mobile robot systems with collision avoidance. The peculiar characteristic of the proposed scheme is that a class of potential energy functions is chosen to form the desired target region constraining the robots for aggregation, and some local potential energy functions are selected to maintain collision avoidance among robots. Such that each mobile robot only needs to interact with their neighbors to realize the region tracking control task. Moreover, this paper provides a new analytical framework of region tracking control for a network of wheeled mobile robots, in which the integration of the system decomposition and sliding mode control method enables to convert the nonholonomic constraint problem of the controlled mobile robot system into a holonomic constraint problem. This provides a new approach to solving the mobile robot control problem. Theoretical analysis and numerical simulation results are given to validate the effectiveness of the proposed control scheme.

Hierarchical Mobile IPv6 (HMIPv6) guarantees to reduce handoff latency, because the MN only registers the new addresses at mobility anchor point (MAP) when the MN moves around access routers (ARs) in the same MAP domain. HMIPv6 still has packet loss problem when the MN moves from one MAP to another. In this paper, a novel location update scheme which further reduces signaling traffic for location update by employing virtual MAP (VMAP) on top of overlapped MAP in HMIPv6, is proposed. This proposed scheme significantly improves performance compared to HMIPv6, in terms of location update rate per user. Also it makes the mobile nodes (MNs) moving around the boundary ARs of adjacent MAP's become to move within a VMAP. It is certain that this scheme reduce the network resources efficiently by reason of removing the location update. In conclusion, this scheme greatly reduces the packet loss and delay, due to Inter-MAP handoff not occurring.

This study aims to solve the issues of nonlinearity, non-integrity constraints, under-actuated systems in mobile robots. The wheeled robot is selected as the research object, and a kinematic and dynamic control model based on Internet of Things (IoT) and neural network is proposed. With the help of IoT sensors, the proposed model can realize effective control of the mobile robot under the premise of ensuring safety using the model tracking scheme and the radial basis function adaptive control algorithm. The results show that the robot can be controlled effectively to break the speed and acceleration constraints using the strategy based on the model predictive control, thus realizing smooth movement under the premise of safety. The self-adapting algorithm based on the IoT and neural network shows notable advantages in parameter uncertainty and roller skidding well. The proposed model algorithm shows a fast convergence rate of about 2 s, which has effectively improved performances in trajectory tracking and robustness of the wheeled mobile robot, and can solve the difficulties of wheeled mobile robots in practical applications, showing reliable reference value for algorithm research in this field.