Home // ICAS 2011, The Seventh International Conference on Autonomic and Autonomous Systems // View article
Authors:
Karthik Mahesh Varadarajan
Markus Vincze
Keywords: Multi-robot Networks, Topology Control, Outage, Fading Models, Hexagon, Deployment, Rayleigh, Log-Normal, Dynamic Network Topology, Mobile, Sensors
Abstract:
A number of multi-robot networks (operating both indoors and outdoors) such as security and surveillance systems, industrial manufacturing, mobile defense robotic systems, mobile distributed monitoring systems as well as other cooperative robotic network systems like robotic soccer require multiple robots to provide maximal coverage and connectivity while being able to rapidly adapt to changes in environmental and channel conditions. Variation in link quality in the transition region is often a major concern in wireless multi-robot sensor networks. The quality of the wireless link varies temporally as well as spatially. Traditional algorithms attempt at solving this issue through a combination of deployment schemes and power control, leading to various topology control mechanisms. In the case of mobile robot networks, it is possible to resolve this issue using the additional degree of freedom rendered by the mobility of the robots. In this paper we introduce a novel robot node deployment scheme and topology control mechanism that aims at maximizing coverage, connectivity while providing reliable communication under varying network conditions. The topology control is achieved by modeling the inverse signal loss, multi-path fading and other effects and combining them to control the topology of the network in an irregular hexagonal static/ mobile multi-robot deployment scheme. Experimental data, together with simulation results demonstrate connectivity enhancement under signal loss with mobility based topology control.
Pages: 94 to 99
Copyright: Copyright (c) IARIA, 2011
Publication date: May 22, 2011
Published in: conference
ISSN: 2308-3913
ISBN: 978-1-61208-134-2
Location: Venice/Mestre, Italy
Dates: from May 22, 2011 to May 27, 2011