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
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;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980367
