DocumentCode
2700769
Title
Decentralized self-repair to maintain connectivity and coverage in networked multi-robot systems
Author
Derbakova, Anna ; Correll, Nikolaus ; Rus, Daniela
Author_Institution
Comput. Sci. & Artificial Intell. Lab., Mas sachusetts Inst. of Technol., Cambridge, MA, USA
fYear
2011
fDate
9-13 May 2011
Firstpage
3863
Lastpage
3868
Abstract
We present a suite of algorithms that enable a team of mobile robots to repair connectivity in a wireless mesh network. Each robot carries a wireless router and can act as a mobile access point. The algorithms are distributed, with each robot computing it´s trajectory using its position, the positions of its neighbors within communication range, and the position of a gateway node. The algorithms are validated via an analytical model as well as field experiments with 7 Create robots.
Keywords
mobile robots; multi-robot systems; telecommunication network routing; wireless mesh networks; Create robots; communication range; connectivity repair; decentralized self-repair; gateway node; mobile access point; mobile robots; networked multirobot systems; wireless mesh network; wireless router; Algorithm design and analysis; Global Positioning System; Logic gates; Maintenance engineering; Mobile communication; Mobile computing; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5980367
Filename
5980367
Link To Document