Deployment of wireless-relay robots with localization by integrated map

The mobile rescue robots are desired to be remotely operated through wireless networks to transmit various data. However, communication infrastructure is not always available in disaster field. So it is necessary to construct a self-organized network such as multi-hop ad-hoc networks. The throughput of wireless communication becomes optimized by equalizing it among each node. This equalization is realized by implementing virtual forces which act on each robot. The force is controlled based on the relative location of each robot and the location is estimated by applying SLAM method using integrated map generated by multi-robots. Simulation and experimental results to evaluate the proposed method are also shown.