Towards the deployment of a mobile robot network with end-to-end performance guarantees

Author

Hsieh, Mong-Ying A. ; Cowley, Anthony ; Kumar, Vijay ; Taylor, Camillo J.

Author_Institution

GRASP Lab., Pennsylvania State Univ., University Park, PA

fYear

2006

fDate

15-19 May 2006

Firstpage

2085

Lastpage

2090

Abstract

Communication is essential for coordination in most cooperative control and sensing paradigms. In this paper, we present an experimental study of strategies for maintaining end-to-end communication links for tasks such as surveillance and search and rescue where team connectivity is essential for providing situational awareness to a base station. We consider the differences between monitoring point-to-point signal strength versus data throughput and present experimental results with our multi-robot testbed in outdoor environments

Keywords

control engineering computing; mobile robots; multi-robot systems; surveillance; cooperative control; end-to-end communication links; end-to-end performance; mobile robot network; multi-robot testbed; search and rescue; surveillance; Bandwidth; Base stations; Communication networks; Communication system control; Mobile robots; Robot kinematics; Robot sensing systems; Surveillance; Testing; Throughput;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642012

Filename

1642012