Evaluating control strategies for wireless-networked robots using an integrated robot and network simulation

Author

Ye, Wei ; Vaughan, Richard T. ; Sukhatme, Gaurav S. ; Heidemann, John ; Estrin, Deborah ; Mataric, Maja J.

Author_Institution

Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA

Volume

3

fYear

2001

fDate

2001

Firstpage

2941

Abstract

Wireless communication is an enabling factor in multiple mobile robot systems. There is significant interaction between robot controllers and communications subsystems. We present a method for evaluating combined robot control/communication strategies for a team of wireless-networked robots performing a resource transportation task. Two alternative controller designs are compared under established communication and radio propagation models. For each we measure the overall performance of the robot team including the cost of communication. The study illustrates how our evaluation tools can be used for designing controllers for robots operating in wireless communication environments.

Keywords

mobile robots; multi-robot systems; position control; radiocommunication; wireless LAN; coordination control; multiple mobile robot systems; radio propagation models; wireless communication; wireless-networked robots; Communication system control; Costs; Mobile communication; Mobile robots; Performance evaluation; Radio control; Radio propagation; Robot control; Transportation; Wireless communication;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933068

Filename

933068