Decentralized connectivity and user localization via wireless robotic networks

Author

Bezzo, Nicola ; Fierro, Rafael

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of New Mexico, Albuquerque, NM, USA

fYear

2011

fDate

5-9 Dec. 2011

Firstpage

1285

Lastpage

1290

Abstract

In this paper we investigate a problem concerning wireless communication in multi agent systems. We create a mesh of mobile routers that move in a decentralized fashion (swarming) in a two-dimensional space in search of a moving target while maintaining communication connectivity constraints. The motion of the robots is dictated by: (i) a spring-mass interaction and, (ii) potential field forces. When the communication field of a target is detected we estimate its location and create an attractive potential centered in its position. Simulation results validate the applicability of the proposed framework. By using four ground vehicles and ZigBee nodes we present also an experiment implemented in a fully decentralized fashion.

Keywords

Zigbee; mobile radio; mobile robots; radio networks; target tracking; telecommunication network routing; wireless mesh networks; ZigBee node; communication field; decentralized connectivity; ground vehicles; mobile router; moving target search; multi agent system; potential field force; robot motion; spring mass interaction; two dimensional space; user localization; wireless robotic network; Base stations; Bit error rate; Mobile communication; Robot sensing systems; Springs; Wireless communication;

fLanguage

English

Publisher

ieee

Conference_Titel

GLOBECOM Workshops (GC Wkshps), 2011 IEEE

Conference_Location

Houston, TX

Print_ISBN

978-1-4673-0039-1

Electronic_ISBN

978-1-4673-0038-4

Type

conf

DOI

10.1109/GLOCOMW.2011.6162391

Filename

6162391