Communication coverage for independently moving robots

Stephanie Gil, Dan Feldman, Daniela Rus

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

17 Scopus citations

Abstract

We consider the task of providing communication coverage to a group of sensing robots (sensors) moving independently to collect data. We provide communication via controlled placement of router vehicles that relay messages from any sensor to any other sensor in the system under the assumptions of 1) no cooperation from the sensors, and 2) only sensor-router or router-router communication over a maximum distance of R is reliable. We provide a formal framework and design provable exact and approximate (faster) algorithms for finding optimal router vehicle locations that are updated according to sensor movement. Using vehicle limitations, such as bounded control effort and maximum velocities of the sensors, our algorithm approximates areas that each router can reach while preserving connectivity and returns an expiration time window over which these positions are guaranteed to maintain communication of the entire system. The expiration time is compared against computation time required to update positions as a decision variable for choosing either the exact or approximate solution for maintaining connectivity with the sensors on-line.

Original languageEnglish (US)
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages4865-4872
Number of pages8
DOIs
StatePublished - Dec 1 2012
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Gil, S., Feldman, D., & Rus, D. (2012). Communication coverage for independently moving robots. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 4865-4872). [6386226] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6386226