Dynamic Survivable Resource Pooling in FPGA-based Distributed Robotics System

Author

Abd El Al, Ahmed ; Hokelek, Ibrahim ; Uyar, Umit ; Zou, Jianping

Author_Institution

Dept. of Electr. Eng., City Univ. of New York, NY

fYear

0

fDate

0-0 0

Firstpage

101

Lastpage

106

Abstract

Dynamic survivable resource pooling (DSRP) is a new mechanism to improve the survivability and reliability in distributed robotics systems. DSRP is based on a virtual backbone (VB), which is a highly distributed, scalable, and survivable network, formed and maintained through one-hop beacons among mobile robots. We implement the DSRP mechanism in our FPGA-based distributed robotics system and demonstrate its effectiveness in a search-and-rescue scenario, where robots cooperate to provide the rescuer with a set of pictures to build a panoramic view of the disaster site

Keywords

field programmable gate arrays; mobile robots; reliability; FPGA-based distributed robotics system; disaster site; dynamic survivable resource pooling; mobile robots; one-hop beacons; search-and-rescue scenario; survivable network; virtual backbone; Application software; Intelligent networks; Intelligent robots; Maintenance; Mobile robots; Orbital robotics; Robot sensing systems; Spine; Stress; Switches;

fLanguage

English

Publisher

ieee

Conference_Titel

Networking, Sensing and Control, 2006. ICNSC '06. Proceedings of the 2006 IEEE International Conference on

Conference_Location

Ft. Lauderdale, FL

Print_ISBN

1-4244-0065-1

Type

conf

DOI

10.1109/ICNSC.2006.1673125

Filename

1673125