Evaluating the efficiency of local and global communication in distributed mobile robotic systems

Author

Yoshida, Eiichi ; Arai, Tamio ; Yamamoto, Masakazu ; Ota, Jun ; Kurabayashi, Daisuke

Author_Institution

Mech. Eng. Lab., AIST, Ibaraki, Japan

Volume

3

fYear

1996

fDate

4-8 Nov 1996

Firstpage

1661

Abstract

One of the major emerging problems of distributed mobile robotic system is what kind of inter-robot communication to use, because of increasing robots integrated in the system. This paper aims to give an analytical view of this issue. The efficiency of local and global communication is compared based on the analysis of information transmission time to multiple robots. We will show that local communication is effective in environments where cooperative tasks are executed by multiple mobile robots in distributed fashion

Keywords

cooperative systems; distributed control; mobile robots; communication efficiency; cooperative tasks; distributed mobile robotic systems; global communication; inter-robot communication; local communication; multiple mobile robots; Diffusion processes; Fault tolerant systems; Global communication; Information analysis; Laboratories; Machinery; Mechanical engineering; Mobile communication; Mobile robots; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on

Conference_Location

Osaka

Print_ISBN

0-7803-3213-X

Type

conf

DOI

10.1109/IROS.1996.569035

Filename

569035