Distributed sensing and communications in tactical robotic networks

In this paper, we address the issues of distributed sensing, communications, mobility control, and self-configuration in robotic networks. In particular, we develop a distributed algorithm that exploits the proactive movements of robotic platforms to achieve a perfect balance between providing sensing coverage and maintaining RF connectivity. The main elements of our proposed approach are based on the concept of virtual potential force (VPF). To circumvent the limitations of existing robotic movement and deployment algorithms, our algorithm takes its inputs directly from local measurements corresponding to RF signal strength or signal to noise ratio (SNR) and maps various control objectives onto a set of corresponding virtual forces. The sum of all the virtual forces directs the adaptive movements of robots. Using simulations, we demonstrate the viability and robustness of our proposed approach.