Paper Info
Title
Consensus Protocol for Underwater Multi-Robot System Using Two Communication Channels
Abstract
In this paper, we apply a simple consensus protocol to a simulated underwater multi-robot system using two communication channels. The approach is motivated by a system in which robots, called aMussels, are dispersed in the environment and measure its properties over longer periods of time. Each unit is equipped with two underwater communication devices: <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">green light</i> , short-range communication device based on modulated light, and <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">nanomodem</i> , long-range acoustic communication device. Except for range, the two communication channels differ in the transmission speed. Both are combined in order to attain fast and accurate average consensus. We bring the results of the protocol applied to the simulated system and analyze its convergence.
Year
DOI
Venue
2018
10.1109/MED.2018.8442929
2018 26th Mediterranean Conference on Control and Automation (MED)
Keywords
Field
DocType
consensus protocol,aMussels,green light short-range communication device,light modulation,nanomodem,long-range acoustic communication device,underwater communication devices,simulated underwater multirobot system,communication channels
Convergence (routing),Robotic systems,Average consensus,Underwater acoustic communication,Computer science,Communication channel,Real-time computing,Control engineering,Robot,Communication device,Underwater
Conference
ISSN
ISBN
Citations 
2325-369X
978-1-5386-7499-4
0
PageRank 
References 
Authors
0.34
9
3
Name
Order
Citations
PageRank
Barbara Arbanas1142.65
Tamara Petrovic2416.51
Stjepan Bogdan315228.12