Title :
Dynamic Survivable Resource Pooling in FPGA-based Distributed Robotics System
Author :
Abd El Al, Ahmed ; Hokelek, Ibrahim ; Uyar, Umit ; Zou, Jianping
Author_Institution :
Dept. of Electr. Eng., City Univ. of New York, NY
Abstract :
Dynamic survivable resource pooling (DSRP) is a new mechanism to improve the survivability and reliability in distributed robotics systems. DSRP is based on a virtual backbone (VB), which is a highly distributed, scalable, and survivable network, formed and maintained through one-hop beacons among mobile robots. We implement the DSRP mechanism in our FPGA-based distributed robotics system and demonstrate its effectiveness in a search-and-rescue scenario, where robots cooperate to provide the rescuer with a set of pictures to build a panoramic view of the disaster site
Keywords :
field programmable gate arrays; mobile robots; reliability; FPGA-based distributed robotics system; disaster site; dynamic survivable resource pooling; mobile robots; one-hop beacons; search-and-rescue scenario; survivable network; virtual backbone; Application software; Intelligent networks; Intelligent robots; Maintenance; Mobile robots; Orbital robotics; Robot sensing systems; Spine; Stress; Switches;
Conference_Titel :
Networking, Sensing and Control, 2006. ICNSC '06. Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Ft. Lauderdale, FL
Print_ISBN :
1-4244-0065-1
DOI :
10.1109/ICNSC.2006.1673125
