Communication coverage for independently moving robots
Name
comm.pdf
Description
Accepted version
Size
253.51 KB
Format
Adobe PDF
Checksum (MD5)
a75f1b5586e6b5d6f5af4c5502dde56b
Author(s)
Gil, Stephanie
Feldman, Dan
Rus, Daniela L
Date Issued
December 2012
Journal
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Gil, Stephanie et al. "Communication coverage for independently moving robots." 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2012, Vilamoura, Portugal, Institute of Electrical and Electronics Engineers, December 2012. © 2012 IEEE
Version
Author's final manuscript
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.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/iros.2012.6386226
