NDLI: Connecting Robots with Concurrent Exploration of Control and Communications

Content Provider	IEEE Xplore Digital Library
Author	Zhe Yan Xin Wang Daegeun Yoon Dongliang Xie
Copyright Year	2015
Description	Author affiliation: Dept. of ECE, Stony Brook Univ., Stony Brook, NY, USA (Zhe Yan; Xin Wang; Daegeun Yoon; Dongliang Xie)
Abstract	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.
Sponsorship	IEEE Comput. Soc.
Starting Page	352
Ending Page	360
File Size	368611
Page Count	9
File Format	PDF
e-ISBN	9781467391016
DOI	10.1109/MASS.2015.32
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wireless communication Simultaneous localization and mapping Robot kinematics Multi-robot systems Algorithm Robots Communication
Content Type	Text
Resource Type	Article

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