LoRaWAN is one of the most promising standards for long-range sensing applications. However, the high number of end devices expected in at-scale deployment, combined with the absence of an effective synchronization scheme, challenge the scalability of this standard. In this paper, we present an approach to increase network throughput through a Slotted-ALOHA overlay on LoRaWAN networks. To increase the single channel capacity, we propose to regulate the communication of LoRaWAN networks using a Slotted-ALOHA variant on the top of the Pure-ALOHA approach used by the standard; thus, no modification in pre-existing libraries is necessary. Our method is based on an innovative synchronization service that is suitable for low-cost wireless sensor nodes. We modelled the LoRaWAN channel with extensive measurement on hardware platforms, and we quantified the impact of tuning parameters on physical and medium access control layers, as well as the packet collision rate. Results show that Slotted-ALOHA supported by our synchronization service significantly improves the performance of traditional LoRaWAN networks regarding packet loss rate and network throughput.

Monitoring of civil infrastructures is critically needed to track aging, damages and ultimately to prevent severe failures which can endanger many lives. The ability to monitor in a continuous and fine-grained fashion the integrity of a wide variety of buildings, referred to as structural health monitoring, with low-cost, long-term and continuous measurements is essential from both an economic and a life-safety standpoint. To address these needs, we propose a low-cost wireless sensor node specifically designed to support modal analysis over extended periods of time with long-range connectivity at low power consumption. Our design uses very cost-effective MEMS accelerometers and exploits the Narrowband IoT protocol (NB-IoT) to establish long-distance connection with 4G infrastructure networks. Long-range wireless connectivity, cabling-free installation and multi-year lifetime are a unique combination of features, not available, to the best of our knowledge, in any commercial or research device. We discuss in detail the hardware architecture and power management of the node. Experimental tests demonstrate a lifetime of more than ten years with a 17000 mAh battery or completely energy-neutral operation with a small solar panel (60 mm × 120 mm). Further, we validate measurement accuracy and confirm the feasibility of modal analysis with the MEMS sensors: compared with a high-precision instrument based on a piezoelectric transducer, our sensor node achieves a maximum difference of 0.08% at a small fraction of the cost and power consumption.

Low power and long-range communications are crucial features of the Internet of Things (IoT) paradigm that is becoming essential even for industrial applications. Today, the most promising long-range communication technologies are LoRaWAN and Narrow Band IoT (NB-IoT), which are driving a large IoT ecosystem. In this paper, we evaluate the performance of LoRaWAN and NB-IoT with accurate in-field measurements using the same application context for a fair comparison in terms of energy efficiency, lifetime, quality of service, and coverage. The NB-IoT energy transmission is scarcely dependent on the payload length. Thus applications that can tolerate buffering and caching techniques on the node are favored. On the other hand, LoRaWAN consumes 10x lower energy compared to NB-IoT for occasional and latency-sensitive communications, for which it enables much end-device lifetime. Finally, this paper provides design guidelines for future industrial applications with stringent requirements of long-range and low power wireless connectivity.

Nanosize drones hold enormous potential to explore unknown and complex environments. Their small size makes them agile and safe for operation close to humans and allows them to navigate through narrow spaces. However, their tiny size and payload restrict the possibilities for onboard computation and sensing, making fully autonomous flight extremely challenging. The first step toward full autonomy is reliable obstacle avoidance, which has proven to be challenging by itself in a generic indoor environment. Current approaches utilize vision-based or 1-D sensors to support nanodrone perception algorithms. This article presents a lightweight obstacle avoidance system based on a novel millimeter form factor 64 pixels multizone time-of-flight (ToF) sensor and a generalized model-free control policy. In-field tests are based on the Crazyflie 2.1, extended by a custom multizone ToF deck, featuring a total flight mass of 35 g. The algorithm only uses 0.3% of the onboard processing power ( ${210}\,{\mu }\mathrm{{s}}$ execution time) with a frame rate of 15 f/s. The presented autonomous nanosize drone reaches 100% reliability at 0.5 m/s in a generic and previously unexplored indoor environment.

Accurate and low-power indoor localization is becoming more and more of a necessity to empower novel consumer and industrial applications. In this field, the most promising technology is based on Ultra-Wideband (UWB) modulation; however, current UWB positioning systems do not reach centimeter accuracy in general deployments due to multi-path and non-isotropic antennas, still necessitating several fixed anchors to estimate an object’s position in space. This paper presents an in-depth study and assessment of Angle of Arrival (AoA) UWB measurements using a compact, low-power solution integrating a novel commercial module with Phase Difference of Arrival (PDoA) estimation as integrated feature. Results demonstrate the possibility of reaching centimeter distance precision and 2.4° average angular accuracy in many operative conditions, e.g., in a 90° range around the center. Moreover, integrating the channel impulse response, the phase differential of arrival, and the point-to-point distance, an error correction model is discussed to compensate for reflections, multi-paths, and front-back ambiguity.

Perceiving and mapping the surroundings are essential for autonomous navigation in any robotic platform. The algorithm class that enables accurate mapping while correcting the odometry errors present in most robotics systems is simultaneous localization and mapping (SLAM). Today, fully onboard mapping is only achievable on robotic platforms that can host high-wattage processors, mainly due to the significant computational load and memory demands required for executing SLAM algorithms. For this reason, pocket-size hardware-constrained robots offload the execution of SLAM to external infrastructures. To address the challenge of enabling SLAM algorithms on resource-constrained processors, this article proposes NanoSLAM, a lightweight and optimized end-to-end SLAM approach specifically designed to operate on centimeter-size robots at a power budget of only 87.9 mW. We demonstrate the mapping capabilities in real-world scenarios and deploy NanoSLAM on a nano-drone weighing 44 g and equipped with a novel commercial RISC-V low-power parallel processor called GAP9. The algorithm, designed to leverage the parallel capabilities of the RISC-V processing cores, enables mapping of a general environment with an accuracy of 4.5 cm and an end-to-end execution time of less than 250 ms.