NDLI: Performance evaluation of auctions WLAN for RoboCup multi-robot cooperation

Content Provider	IEEE Xplore Digital Library
Author	Al-Mouhamed, M.A. Siddiq, U.F.
Copyright Year	2009
Description	Author affiliation: Information Technology Center, King Fahd University of Petroleum and Minerals Dhahran 31261, Saudi Arabia (Siddiq, U.F.) \|\| Department of Computer Engineering, College of Computer Science and Engineering (CCSE) King Fahd University of Petroleum and Minerals, (KFUPM), Dhahran 31261, Saudi Arabia (Al-Mouhamed, M.A.)
Abstract	A three-level architecture for a team of autonomous cooperative robots has been proposed. A dynamic Joint-Commitment scheme is proposed to support the formulation of relational behaviors for cooperative robots playing soccer. Teamwork between two robots which know from each other that they are committed to a relational behavior may pass the ball from one robot to another, receive the ball and kick, and handle exceptions. The joint commitment is established based on a finite state machine and a messaging system to: (1) synchronize the pass behavior, (2) reiterate the process and extend the pass to another partner, or (3) break the commitment and search for a new partner depending on dynamic game conditions. To provide dynamic joint-commitment and needed synchronization a fast, reliable, and power aware communication model is needed for Ad-Hoc wireless networks forming a cooperating multi-robot system. Current techniques are based on client-server, Publish/Subscribe, and Peer/Peer communication which are not suitable. For this we implemented and evaluated an auction based communication model based on (1) TCP Peer to Peer Scheme, (2) UDP Peer to Peer (UPTP) Scheme, and (3) UDP Broadcast and Token Passing (UBTP) scheme. Evaluation reports the distribution of auction completion times and power consumption for auction-based and peer-to-peer communication.
Starting Page	610
Ending Page	615
File Size	438935
Page Count	6
File Format	PDF
ISBN	9781424438075
DOI	10.1109/AICCSA.2009.5069389
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-05-10
Publisher Place	Morocco
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wireless LAN Robots Power system reliability Power system modeling Teamwork Automata Telecommunication network reliability Wireless networks Multirobot systems Broadcasting robocup behavior programming distributed intelligence multi-robot cooperation
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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