Connectivity-through-time protocols for dynamic wireless networks to support mobile robot teams

Nageswara S.V. Rao, Qishi Wu, S. Sitharama Iyengar, Arul Manickam

Research output: Contribution to journalConference articlepeer-review

6 Scopus citations

Abstract

Mobile robot teams are increasingly deployed in various applications involving remote operations in unstructured environments that do not support wireless network infrastructures. We propose a class of protocols based on the connectivity-through-time concepts that exploit the robot movements to extend the traditional notions of network connectivity. These protocols enable the formation of ad hoc networks of mobile robots without the infrastructure of access points by utilizing the robots as routers. These protocols are implemented as a collection of daemons that track connectivity changes, compute single and multiple hop connectivity, route the packets via robots with suitable buffering, and adapt the transport parameters to the connection characteristics. The implementation employs UDP with window-based flow control that is tuned to the nature of connections. We present experimental performance results based on our implementation on robot teams to illustrate the salient features of this approach.

Original languageEnglish (US)
Pages (from-to)1653-1658
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
StatePublished - Dec 9 2003
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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