Ad-hoc wireless network coverage with networked robots that cannot localize
Name
Correll-2009-Ad-hoc wireless network coverage with networked robots that cannot localize.pdf
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805.54 KB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Correll, Nikolaus
Bachrach, Jonathan
Vickery, Daniel R.
Rus, Daniela L.
Date Issued
July 2009
Journal
IEEE International Conference on Robotics and Automation, 2009. ICRA '09.
Publisher
Institute of Electrical and Electronics Engineers
Citation
Correll, N. et al. “Ad-hoc wireless network coverage with networked robots that cannot localize.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 3878-3885. ©2009 Institute of Electrical and Electronics Engineers.
Version
Final published version
Abstract
We study a fully distributed, reactive algorithm for deployment and maintenance of a mobile communication backbone that provides an area around a network gateway with wireless network access for higher-level agents. Possible applications of such a network are distributed sensor networks as well as communication support for disaster or military operations. The algorithm has minimalist requirements on the individual robotic node and does not require any localization. This makes the proposed solution suitable for deployment of large numbers of comparably cheap mobile communication nodes and as a backup solution for more capable systems in GPS-denied environments. Robots keep exploring the configuration space by random walk and stop only if their current location satisfies user-specified constraints on connectivity (number of neighbors). Resulting deployments are robust and convergence is analyzed using both kinematic simulation with a simplified collision and communication model as well as a probabilistic macroscopic model. The approach is validated on a team of 9 iRobot Create robots carrying wireless access points in an indoor environment.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
http://dx.doi.org/10.1109/ROBOT.2009.5152742
