NDLI: Reliable Communication Protocol for Applications in Multi-Robot Systems

Content Provider	Springer Nature Link
Author	Muhammad, Shahabuddin Al Mouhamed, Mayez Mohammad, Nazeeruddin
Copyright Year	2015
Abstract	Multi-robot systems (MRSs) have a wide variety of applications, such as search and rescue in disaster scenarios, where many robots coordinate with each other to accomplish a task. Such MRS applications use infrastructureless environment in which robots rely on inherently unreliable ad hoc network to communicate with each other. Reliable communication among the peers can greatly enhance the performance of a multi-robot system. This paper proposes a reliable communication protocol (RCP) for applications in multi-robot systems. RCP acts as an interface between MRS applications and the underlying communication framework. RCP accepts data from MRS applications and reliably delivers it to other peers. RCP is transparent to MRS applications as well as the underlying communication hardware. To evaluate its performance, we have implemented RCP on seven Stargate micro-controllers that communicate with each other using an ad hoc network. Further, to test the performance of RCP in MRS applications involving higher number of peers, we have also implemented RCP on laptops with Intel i7 microprocessors. The obtained results show that RCP achieves reliability while reducing packet delivery time as well as the number of retries needed to deliver a failed packet.
Starting Page	2771
Ending Page	2785
Page Count	15
File Format	PDF
ISSN	13198025
Journal	Arabian Journal for Science and Engineering
Volume Number	41
Issue Number	8
e-ISSN	21914281
Language	English
Publisher	Springer Berlin Heidelberg
Publisher Date	2015-12-23
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Peer-to-peer networks Ad hoc networks Multi-robot systems Engineering Science
Content Type	Text
Resource Type	Article

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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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