NDLI: Wireless map-based handoffs for mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Wang, R. Mukerjee, M.K. Veloso, M. Seshan, S.
Copyright Year	2015
Description	Author affiliation: Comput. Sci. Dept., Carnegie Mellon Univ., Pittsburgh, PA, USA (Wang, R.; Mukerjee, M.K.; Veloso, M.; Seshan, S.)
Abstract	Most wireless solutions today are centered around people-centric devices like laptops and cell phones that are insufficient for mobile robots. The key difference is that people-centric devices use wireless connectivity in bursts under primarily stationary settings while mobile robots continuously transmit data even while moving. When mobile robots use existing wireless solutions, it results in intolerable and seemingly random interruptions in wireless connectivity when moving [1]. These wireless issues stem from suboptimal switching across wireless infrastructure access points (APs), also called AP handoffs. These poor handoff decisions are due to stateless handoff algorithms that make wireless decisions solely from immediate and noisy scans of surrounding wireless conditions. In this paper, we propose to overcome these motion-based wireless connectivity issues for autonomous robots using highly informed handoff algorithms that combine fine-grain wireless maps with accurate robot localization. Our results show significant wireless performance improvements for continuously moving robots in real environments without any modifications to the wireless infrastructure.
Starting Page	5545
Ending Page	5550
File Size	3041618
Page Count	6
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7139974
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wireless communication Mobile robots Switches Throughput Performance evaluation Wireless sensor networks
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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