Radio signal mapping with collective intelligent robots in unstructured environments

In collective intelligent robots, communication capability is considered as a key feature to decide how to design the collaboration policy. A cooperative routing robot system is suggested to maintain the communication capability in between robots and an algorithm to establish a seamless global communication is proposed. Generating the radio signal map among robots is suggested to prevent loss of communication in different radio environments. The proposed algorithm is composed of two steps. At the first step, Extended Kalman Filter is designed to estimate radio environments. Then, the communication link a radio signal map is generated using k-NN(Nearest Neighbors) algorithm. Results of the proposed approach are shown through simulation.