Paper Info
Title
Wireless Communications for Distributed Navigation in Robot Swarms
Abstract
We consider a swarm of robots equipped with an infrared range and bearing device that is able both to make estimates of the relative distance and angle between two robots in line-of-sight and to transfer data between them. Through the infrared range and bearing device, the robots create a line-of-sight mobile ad hoc network. We investigate different ways to implement a swarm-level distributed navigation function exploiting the routing information gathered within this network. In the scenario we consider, a number of different events present themselves in different locations. To be serviced, each event requires that a robot with the appropriate skills comes to its location. We present two swarm-level solutions for guiding the navigation of the selected robots towards the events. We use a bio-inspired ad hoc network routing protocol to dynamically find and maintain paths between a robot and an event location in the mobile line-of-sight network, and use them to guide the robot to its goal. The performance of the two approaches is studied in a number of network scenarios presenting different density, mobility, and bandwidth availability.
Year
DOI
Venue
2009
10.1007/978-3-642-01129-0_3
EvoWorkshops
Keywords
Field
DocType
wireless communication,infrared,mobile ad hoc network
Mobile ad hoc network,Navigation function,Computer science,Wireless Routing Protocol,Adaptive quality of service multi-hop routing,Optimized Link State Routing Protocol,Wireless ad hoc network,Mobile robot navigation,Vehicular ad hoc network,Distributed computing
Conference
Volume
ISSN
Citations 
5484
0302-9743
2
PageRank 
References 
Authors
0.39
10
3
Name
Order
Citations
PageRank
Gianni A. Di Caro172151.79
Frederick Ducatelle281340.43
Luca Maria Gambardella37926726.40