TY - GEN
T1 - Connecting robots with concurrent exploration of control and communications
AU - Yan, Zhe
AU - Wang, Xin
AU - Yoon, Daegeun
AU - Xie, Dongliang
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/28
Y1 - 2015/12/28
N2 - Multi-robot systems (MRS) have many applications and the efficient operation of MRS relies on coordination of robots. However, it is difficult to build network connections among randomly distributed robots in the presence of robot movements and weak wireless channels. In this work, we propose to jointly exploit communications and motion control to efficiently establish robot connections. To achieve this goal, we concurrently use MUSIC and particle filter to more accurately and efficiently estimate robot signal directions, built on which signal strength-based potential field is formed to control robot motion to establish and maintain communication links. Our studies based on test bed and simulations demonstrate the effectiveness of our algorithm in networking robots, with much higher number of robots connected compared to peer algorithms.
AB - Multi-robot systems (MRS) have many applications and the efficient operation of MRS relies on coordination of robots. However, it is difficult to build network connections among randomly distributed robots in the presence of robot movements and weak wireless channels. In this work, we propose to jointly exploit communications and motion control to efficiently establish robot connections. To achieve this goal, we concurrently use MUSIC and particle filter to more accurately and efficiently estimate robot signal directions, built on which signal strength-based potential field is formed to control robot motion to establish and maintain communication links. Our studies based on test bed and simulations demonstrate the effectiveness of our algorithm in networking robots, with much higher number of robots connected compared to peer algorithms.
KW - Algorithm
KW - Communication
KW - Robots
UR - https://www.scopus.com/pages/publications/84964683539
U2 - 10.1109/MASS.2015.32
DO - 10.1109/MASS.2015.32
M3 - Conference contribution
AN - SCOPUS:84964683539
T3 - Proceedings - 2015 IEEE 12th International Conference on Mobile Ad Hoc and Sensor Systems, MASS 2015
SP - 352
EP - 360
BT - Proceedings - 2015 IEEE 12th International Conference on Mobile Ad Hoc and Sensor Systems, MASS 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th IEEE International Conference on Mobile Ad Hoc and Sensor Systems, MASS 2015
Y2 - 19 October 2015 through 22 October 2015
ER -