Adaptive communication in multi-robot systems using directionality of signal strength

Stephanie Gil, Swarun Kumar, Dina Katabi, Daniela Rus

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We consider the problem of satisfying communication demands in a multiagent system where several robots cooperate on a task and a fixed subset of the agents act as mobile routers. Our goal is to position the team of robotic routers to provide communication coverage to the remaining client robots. We allow for dynamic environments and variable client demands, thus necessitating an adaptive solution. We present an innovative method that calculates a mapping between a robot’s current position and the signal strength that it receives along each spatial direction, for its wireless links to every other robot. We show that this information can be used to design a simple positional controller that retains a quadratic structure, while capturing the behavior of wireless signals in real-world environments. Notably, our approach does not necessitate stochastic sampling along directions that are counterproductive to the overall coordination goal, nor does it require exact client positions, or a known map of the environment.

Original languageEnglish (US)
Title of host publicationRobotics Research - 16th International Symposium ISRR
EditorsPeter Corke, Masayuki Inaba
PublisherSpringer Verlag
Pages57-77
Number of pages21
ISBN (Print)9783319288703
DOIs
StatePublished - 2016
Event16th International Symposium of Robotics Research, ISRR 2013 - Singapore, Singapore
Duration: Dec 16 2013Dec 19 2013

Publication series

NameSpringer Tracts in Advanced Robotics
Volume114
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other16th International Symposium of Robotics Research, ISRR 2013
CountrySingapore
CitySingapore
Period12/16/1312/19/13

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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