Real-Time Communication and Localization for a Swarm of Mobile Robots Using IEEE 802.15.4a CSS

Just-in-time inventory management and short production cycles require flexible material flow as well as usage of small transportation units. These demands can be met by using small Automated Guided Vehicles (AGVs) which act as a swarm of mobile robots. The paper presents real-time communication and localization for a swarm of mobile robots which transport Euro-bins in a distribution center or warehouse. Localization is realized by trilateration using range measurements obtained from an IEEE 802.15.4a CSS network. The IEEE 802.15.4a network is used for communication as well as for localization. The paper presents the design of the networks as well as the communication protocol which provides communication and localization in real-time. In order to support a large number of robots, the whole working area is divided into cells which uses different frequencies. The network protocol provides handover between the cells and routing capabilities in real-time.