localization and tracking: challenges and opportunities antonio a. f. loureiro universidade federal...
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Localization and Tracking: Challenges and Opportunities
Antonio A. F. LoureiroUniversidade Federal de Minas Gerais, Brazil
IEEE LatinCom 2011, Belém, Oct 26, 2011
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Looking into the pastWhat happened to Jim Gray?
• On Sunday, Jan 28, 2007, during a short solo sailing trip to the Farallon Islands near San Francisco to scatter his mother's ashes, Gray and his 40-foot yacht, Tenacious, disappeared
• Gray's boat was equipped with an automatically deployable EPIRB (Emergency Position-Indicating Radio Beacon), which should have deployed and begun transmitting the instant his vessel sank
Jim Gray on the Tenacious in Jan 2006
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Looking into the pastWhat happened to Jim Gray?
• The area around the Farallon Islands where Gray was sailing is well north of the East-West ship channel used by freighters entering and leaving San Francisco Bay
• The weather was clear that day and no ships reported striking his boat, nor were any distress radio transmissions reported
The Gulf of the Farallones, 2007
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Looking into the pastWhat happened to Jim Gray?
• Coast Guard search: First the USCG search-and-rescue unit scoured more than 132,000 square miles of the Pacific with boats and aircraft equipped with thermal-imaging radar
• Satellite search: Then Gray's friends mobilized satellites and a reconnaissance plane to fly over the heart of the search zone. The images were uploaded to Amazon's Mechanical Turk for analysis
• Was this Jim Gray? More than 12,000 online volunteers examined 560,000 image sets for signs of Gray's boat. The tile showing 620,000 square feet of ocean was tagged for further examination and rated as "highly likely" by a team of experienced analysts
Search area
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Looking into the pastWhat happened to Jim Gray?
• On Feb 16, 2007, the family and friends of Jim Gray Group suspended their search
• Family ended its underwater search May 31, 2007. Despite much effort and use of high-tech equipment above and below water, searches did not reveal any new clues
Gray’s boat
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Looking into the pastWhat happened to Jim Gray?
• What might have gone wrong on Gray's boat?– Engine: Tenacious' 40-horsepower engine
might not have been powerful enough to fight stiff winds and an outgoing tide
– Hull: A lightweight fiberglass hull made the boat fast but vulnerable to damage from objects in the water
– Emergency Beacon: Tenacious's EPIRB was stored on a shelf in the companionway, never deployed
It seems obvious that this is a typical L&T problem!
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• AF Airbus 330-200 aircraft crashed into the Atlantic Ocean on June 1, 2009, killing 228 people
• Deadliest accident in the history of Air France and deadliest commercial airliner accident to occur since 9/11
• Possible reasons: pitot tubes (speed sensors) started to give inconsistent readings; pilots apparently were not aware of the procedures to follow
Looking into a more recent pastAir France AF447
Approximate flight path of AF 447
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• Main challenge: locate the airplane’s black boxes (battery for approximately 2 months)
• On April 3, 2011, a team led by the Woods Hole Oceanographic Institution, using an AUV, discovered, by means of sidescan sonar, a large portion of debris field believed to be that of flight AF447
• Finally, BBs located and recovered from the ocean floor two years later in May 2011
A typical L&T problem!
Looking into a more recent past Air France AF447
Waitt Institute’s AUV
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Data communication andfundamental building blocks
Data communication
Networks
Localization &Tracking
Fundamental Building Blocks
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Motivation
• Location awareness plays a key role in different networks
• Different entities require or can take advantage of some sort of location information:– Routing– Data dissemination– Applications– Services– Many others
Different requirements
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Dimensions of L&T
• Types of entities• Internal vs. External• Roles• QoS requirements• Privacy• …
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What types of entities?
• Different possibilities depending on the scenario– User– Application– Service– Protocol
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Localization techniques
Interesting research/practical challenges
Different capabilities and possibilities
Different solutions
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Motivation
• Applications/services and protocols can benefit from location information
• Location and tracking can be used as:– Main role– Support role
• Beyond the location information, tracking techniques can be used to:– Detect and predict trajectories of single or multiple targets
(basic service)– Provide customized services for users (will probably happen
all time)
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Location and tracking roles
• Main role– L & T techniques are themselves the goals– For instance, driving or walking in an unknown terrain
• Support role– L & T techniques provide information for other entities– For instance, data dissemination for users, applications, …
Lots of possibilities/opportunities
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Cooperative Target Tracking (CTT)
• Entities cooperate to perform the tracking task• Target tracking techniques can be applied to
augment the entity perception of the surrounding context
• Results can be used to actuate on the entity, surrounding environment, etc
• Applications in a VANET: lane merge/change assistance, overtaken, fleet management, traffic management, collision detection/warning
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Some VANET characteristics and L&T
• More predictable mobility• Presents highly dynamic topology due to two
reasons:– speed of vehicles, and – characteristics of radio propagation
• Multicast/broadcast communication• Difficult to maintain connectivity information in
VANETs
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CTT as main role
A
D
B
V2V
V2V
V2I
V2I
V2I
G
E
F
V2I
V2V
V2V
V2I
V2I
V2I
C
V2V
V2V
V2V
V2V
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• Location accuracy– Low – Medium– High
• Prediction– Short term– Mid term– Long term
CTT requirements
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Main goals
• Investigate how to deal with the rapid topology change• Develop new protocols that take advantage of the
location/tracking estimation• Propose a target tracking architecture suitable for
VANETs • Investigate CTT that involves VANET communication
capabilities
These aspects are typically present in a different application domain
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Filtering
Target(s) Motion Model
Data Association Algorithm
Cooperative Target/Multi Target State
Estimation and Tracking
Measurements
Self Data
Cooperative Data
Autonomous Data
CTT components
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Looking into the distant futureCan we fly?
• Big advances in super efficient electric motors and control systems, which let the aircraft feel the intention of the pilot, may make it possible to fly a one-person craft like this safely without typical pilot training
National Geographic Mag, Sept 2011USA Edition
23NASA’s Puffin
Looking into the distant futureCan we fly?
• Keep an eye on the Puffin, a "personal air vehicle" that became an Internet sensation when NASA unveiled it in 2010
• Engineers at NASA have combined every one of our geeky transportation dreams into a single little vehicle called Puffin
• It takes off like a helicopter and flies like a plane; it can cruise at 140 mph and, with a boost mode, hit about twice that, and it’s electric
• When?• L&T problem?
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Looking into the near futureElectric vehicles and EVSE
• Electrical vehicles: radical shift in how a vehicle is build and integrated into the power supply infrastructure
• Possible scenario: increase in the number of EVs will put additional strain on electrical distribution circuits
Is this a L&T problem?
2010 Nissan Leaf Electric Vehicle
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Looking into the near futureElectric vehicles and EVSE
• Given the VANET characteristics, a L&T question naturally arises:– Given a possible path of an EV, when and where is the vehicle going to
recharge?
• This is a quite complicated problem since we have to keep track of EVs and make different kinds of prediction (network connectivity, other vehicles, demands, lineups, etc)
Planning will be an important service in this scenario, which will be supported by L&T techniques
What are the economic impacts of vehicle-to-grid (V2G) regulation reserves?
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Looking into the near futureElectric vehicles and EVSE
• The ISO/IEC joint working group on the Vehicle to Grid Communication Interface (V2G CI)
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Looking into the near futureCan we apply L&T?
• We have the sensing technology to measure CO2
• What does it mean to L&T CO2?• In which scenarios?• What are the important and critical
aspects?
Lots of research opportunities!
National Geographic Mag, Oct 2011Brazilian Edition
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A broad spectrum
Challenges:– treatment of individual sources and combination of them– L&T services (can be very sophisticated)
Localization and TrackingRevisiting the entities
PhysicalSources
LogicalSources
Physical sensors:– Objects– People– Animals– CO2
– ….
Virtual sensors:– Fire– Events given by a
predicate
Different pieces of information:– Gossip– Social interactions– Information origin– Information evolution– ...
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Localization and TrackingDesign For “X” (you name it)
• Correctness– Is it possible to define and check some correctness
properties of the L&T system?– What are technological requirements to guarantee those
goals?
Industry wants to build a product that is correct w.r.t. some goals
Users should rely on the system
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Localization and TrackingDesign For “X”
• Quality– What’s the data quality a L&T system should receive to
provide an outcome with the expected quality?– What are technological requirements to guarantee those
goals?– What are implications and actions to be taken whenever
this quality is not provided?
Industry wants to deliver what they promiseUsers what to get what industry promises
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Localization and TrackingDesign For “X”
• Safety– How can we guarantee the different safety aspects of this
kind of information?
Industry doesn’t want to get lawsuitsUsers want to make sure safety aspects are
guaranteed
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Localization and TrackingSome concluding remarks
• An issue where theory and practice can definitely get together– Lots of opportunities for different groups to collaborate
• Design of L&T should consider other important network functions
