2024, Vol.29, No.1

Journal of The Korea Society of Computer and Information 2023 KCI Impact Factor : 0.65

pISSN : 1598-849X / eISSN : 2383-9945
https://journal.kci.go.kr/jksci

This paper proposes an integration of the ED-H scheduling algorithm, known for optimal real-time scheduling, with the LoRaEnergySim simulator. This integration facilitates the simulation of interactions between real-time scheduling algorithms for tasks with time constraints in Class-A LoRaWAN Class-A devices using a super-capacitor-based energy harvesting system. The time and energy characteristics of LoRaWAN status and state transitions are extracted in a log format, and the task model is structured to suit the time-slot-based ED-H scheduling algorithm. The algorithm is extended to perform tasks while satisfying time constraints based on CPU executions. To evaluate the proposed approach, the ED-H scheduling algorithm is executed on a set of tasks with varying time and energy characteristics and CPU occupancy rates ranging from 10% to 90%, under the same conditions as the LoRaEnergySim simulation results for packet transmission and reception. The experimental results confirmed the applicability of co-simulation by demonstrating that tasks are prioritized based on urgency without depleting the supercapacitor's energy to satisfy time constraints, depending on the scheduling algorithm.

Multi-agent systems can be utilized in various real-world cooperative environments such as battlefield engagements and unmanned transport vehicles. In the context of battlefield engagements, where dense reward design faces challenges due to limited domain knowledge, it is crucial to consider situations that are learned through explicit sparse rewards. This paper explores the collaborative potential among allied agents in a battlefield scenario. Utilizing the Multi-Robot Warehouse Environment(RWARE) as a sparse reward environment, we define analogous problems and establish evaluation criteria. Constructing a learning environment with the QMIX algorithm from the reinforcement learning library Ray RLlib, we enhance the Agent Network of QMIX and integrate Random Network Distillation(RND). This enables the extraction of patterns and temporal features from partial observations of agents, confirming the potential for improving the acquisition of sparse reward experiences through intrinsic rewards.

In this paper, we propose a method to build a sample dataset of the features of eight sensor-only facilities built as infrastructure for autonomous cooperative driving. The feature extracted from point cloud data acquired by LiDAR and build them into the sample dataset for recognizing the facilities. In order to build the dataset, eight sensor-only facilities with high-brightness reflector sheets and a sensor acquisition system were developed. To extract the features of facilities located within a certain measurement distance from the acquired point cloud data, a cylindrical projection method was applied to the extracted points after applying DBSCAN method for points and then a modified OTSU method for reflected intensity. Coordinates of 3D points, projected coordinates of 2D, and reflection intensity were set as the features of the facility, and the dataset was built along with labels. In order to check the effectiveness of the facility dataset built based on LiDAR data, a common CNN model was selected and tested after training, showing an accuracy of about 90% or more, confirming the possibility of facility recognition. Through continuous experiments, we will improve the feature extraction algorithm for building the proposed dataset and improve its performance, and develop a dedicated model for recognizing sensor-only facilities for autonomous cooperative driving.