An adaptive medium access control protocol for robot inter-communication in autonomous distributed systems

Author

Arai, Junpei ; Koyama, Akio ; Barolli, Leonard

Author_Institution

Dept. of Inf. & Control Eng., Coll. of Ind. Technol., Amagasaki, Japan

Volume

2

fYear

2004

fDate

29-31 March 2004

Firstpage

545

Abstract

In autonomous distributed robot systems many robots cooperate together to carry out many difficult tasks that single robots can not realize. But, in order to cooperate together the robots should communicate with each other. Therefore, the inter-communication among robots is very important problem to be solved. We propose an adaptive reservation-time division multiple access (AR-TDMA) medium access control protocol which can realize a real-time communication among robots in a heterogeneous environment by using a reservation mechanism. Also, by using an adaptive time slot allocation method, the protocol has a flexible behavior and can deal with the changes of number of robots. Furthermore, the proposed protocol can reduce the packet collision probability.

Keywords

collision avoidance; cooperative systems; mobile robots; multi-robot systems; packet reservation multiple access; telecommunication congestion control; time division multiple access; adaptive reservation-time division multiple access; autonomous distributed robot systems; cooperative system; medium access control protocol; packet collision avoidance; real-time communication; robot inter-communication; Access protocols; Adaptive control; Control engineering; Media Access Protocol; Medical robotics; Mobile communication; Multiaccess communication; Programmable control; Service robots; Time division multiple access;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Information Networking and Applications, 2004. AINA 2004. 18th International Conference on

Print_ISBN

0-7695-2051-0

Type

conf

DOI

10.1109/AINA.2004.1283863

Filename

1283863