Infrastructure for Autonomous Mobile Robots Communication and Coordination

Marcelo M. SobralLeandro Buss Becker

Teams of mobile robots need to communicate using wireless medium to perform common tasks in a coordinated manner. Communications normally involve control, status, and possibly stream messages containing real-time and QoS requirements. It is often the case that mobile robots are deployed in unknown environments, requiring them to form an ad-hoc wireless network to establish connectivity. Moreover, a dynamic topology is also required due to the mobility of nodes. This work proposes a communication infrastructure to be used by mobile robots operating under the described conditions. It provides a convenient communication model to abstract from topology changes caused by movements of robots and assures, whenever possible, that messages are delivered in a timely manner, with application required QoS.

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Biblioteca Digital Brasileira de Computação - Contato:
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