NDLI: Performance of a distributed robotic system using shared communications channels

Content Provider	IEEE Xplore Digital Library
Author	Rybski, P.E. Stoeter, S.A. Gini, M. Hougen, D.F. Papanikolopoulos, N.P.
Copyright Year	1989
Abstract	We have designed and built a set of miniature robots called Scouts and have developed a distributed software system to control them. This paper addresses the fundamental choices we made in the design of the control software, describes experimental results in a surveillance task, and analyzes the factors that affect robot performance. Space and power limitations on the Scouts severely restrict the computational power of their on-board computers, requiring a proxy-processing scheme in which the robots depend on remote computers for their computing needs. While this allows the robots to be autonomous, the fact that robots' behaviors are executed remotely introduces an additional complication-sensor data and motion commands have to be exchanged using wireless communications channels. Communications channels cannot always be shared, thus requiring the robots to obtain exclusive access to them. We present experimental results on a surveillance task in which multiple robots patrol an area and watch for motion. We discuss how the limited communications bandwidth affects robot performance in accomplishing the task, and analyze how performance depends on the number of robots that share the bandwidth.
Starting Page	713
Ending Page	727
Page Count	15
File Size	1365366
File Format	PDF
ISSN	1042296X
Volume Number	18
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-10-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Communication channels Orbital robotics Communication system control Surveillance Performance analysis Bandwidth Software systems Control systems Software performance
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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