Profiling Pseudonet Architecture for Coordinating Mobile Robots

Area coverage and Navigation are two fundamental requirements for robot applications. When multiple robots are fielded in a scene, coordination through communication becomes a natural pre-requisite. This paper focuses on the area coverage problem and proposes periodic exchange of state information related to location and coverage as a solution. The solution is based on pseudonet communication architecture that enables exchange of messages between the robots by setting up a Bluetooth piconet or scatternet and maintaining the same throughout the process of covering the area.