Heterogeneous Wireless Multirobot System

Author

Bicchi, Antonio ; Danesi, Antonio ; Dini, Gianluca ; Porta, Silvio La ; Pallottino, Lucia ; Savino, Ida M. ; Schiavi, Riccardo

Volume

15

Issue

1

fYear

2008

fDate

3/1/2008 12:00:00 AM

Firstpage

62

Lastpage

70

Abstract

A scalable platform for decentralized traffic management of a multi-agent system has been proposed. Safety of the platform is achieved with a cooperative conflict avoidance policy. Security of communications among vehicles with respect to potential external adversaries is obtained through use of cryptographic keys and rekeying policies. A prototypical implementation of the architecture has been described, and some experimental results have been reported.

Keywords

collision avoidance; cryptography; distributed control; mobile robots; multi-robot systems; radio networks; cooperative conflict avoidance policy; cryptographic key; decentralized traffic management; distributed communication computing; distributed control; heterogeneous wireless multirobot system; mobile robot; multiagent system; rekeying policy; Communication system control; Communication system security; Control systems; Mobile robots; Multirobot systems; Remotely operated vehicles; Robot kinematics; Robot sensing systems; Safety; Wireless communication;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/M-RA.2007.914925

Filename

4476330