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Harvard
Casparsson, A. och Gardtman, D. (2017) A Real-Time Testbed for Distributed Algorithms:Evaluation of Average Consensus inSimulated Vehicular Ad Hoc Networks. Göteborg : University of Gothenburg
BibTeX
@mastersthesis{
Casparsson2017,
author={Casparsson, Albin and Gardtman, David},
title={A Real-Time Testbed for Distributed Algorithms:Evaluation of Average Consensus inSimulated Vehicular Ad Hoc Networks},
abstract={Intelligent transportation systems consist of applications which use communication
capabilities of vehicles to solve tasks that require cooperation with other vehicles.
One of the possible applications is cooperative positioning, in which vehicles increase
the accuracy of their positions by sharing positioning information with each other.
Previous research has suggested using average consensus to share this information.
Average consensus is a type of distributed algorithm that, in a system where each
node performs a measurement of some value, can make all nodes reach agreement
on the average of the set of measurements. This thesis evaluates the performance of
average consensus algorithms in vehicular ad hoc networks.
Full-scale experiments on vehicular systems are costly, but it is also not necessarily
desired to fully simulate a vehicular system. This thesis presents a testbed where
we opt to fully simulate the vehicular communication network. The vehicles that
are part of the network can be simulated using either virtual nodes or a scaled down
physical robot system. An 802.11p wireless network, which has been suggested for
vehicular ad hoc networks, is simulated using the ns-3 network simulator. Additionally,
some properties that cause the wireless network to be unreliable are simulated.
Furthermore, in this thesis, three average consensus algorithms are implemented
with some modifications to account for the properties of vehicular ad hoc networks.
These algorithms are evaluated in the created testbed, in order to study their performance
in such a network. We observe that consensus converges asymptotically in
a simulation of randomly moving nodes, and that the consensus states of the nodes
oscillate around the true average when new nodes are allowed to enter the system
during consensus. The consensus converges to a state that does not necessarily coincide
exactly with the true average, which is to be expected since some packets are
lost due the simulated wireless network not being fully reliable. We also demonstrate
that performing average consensus on the position of an object can improve
the precision of driving in a physical system of moving robots.},
publisher={Institutionen för data- och informationsteknik (Chalmers), Chalmers tekniska högskola},
place={Göteborg},
year={2017},
keywords={Average consensus, Vehicular ad hoc networks, Network simulation, ns-3,Intelligent transportation systems, Distributed algorithms},
note={64},
}
RefWorks
RT Generic
SR Electronic
ID 250071
A1 Casparsson, Albin
A1 Gardtman, David
T1 A Real-Time Testbed for Distributed Algorithms:Evaluation of Average Consensus inSimulated Vehicular Ad Hoc Networks
YR 2017
AB Intelligent transportation systems consist of applications which use communication
capabilities of vehicles to solve tasks that require cooperation with other vehicles.
One of the possible applications is cooperative positioning, in which vehicles increase
the accuracy of their positions by sharing positioning information with each other.
Previous research has suggested using average consensus to share this information.
Average consensus is a type of distributed algorithm that, in a system where each
node performs a measurement of some value, can make all nodes reach agreement
on the average of the set of measurements. This thesis evaluates the performance of
average consensus algorithms in vehicular ad hoc networks.
Full-scale experiments on vehicular systems are costly, but it is also not necessarily
desired to fully simulate a vehicular system. This thesis presents a testbed where
we opt to fully simulate the vehicular communication network. The vehicles that
are part of the network can be simulated using either virtual nodes or a scaled down
physical robot system. An 802.11p wireless network, which has been suggested for
vehicular ad hoc networks, is simulated using the ns-3 network simulator. Additionally,
some properties that cause the wireless network to be unreliable are simulated.
Furthermore, in this thesis, three average consensus algorithms are implemented
with some modifications to account for the properties of vehicular ad hoc networks.
These algorithms are evaluated in the created testbed, in order to study their performance
in such a network. We observe that consensus converges asymptotically in
a simulation of randomly moving nodes, and that the consensus states of the nodes
oscillate around the true average when new nodes are allowed to enter the system
during consensus. The consensus converges to a state that does not necessarily coincide
exactly with the true average, which is to be expected since some packets are
lost due the simulated wireless network not being fully reliable. We also demonstrate
that performing average consensus on the position of an object can improve
the precision of driving in a physical system of moving robots.
PB Institutionen för data- och informationsteknik (Chalmers), Chalmers tekniska högskola,PB Institutionen för data- och informationsteknik (Chalmers), Chalmers tekniska högskola,
LA eng
LK http://publications.lib.chalmers.se/records/fulltext/250071/250071.pdf
OL 30
