Self-configuration of an adaptive TDMA wireless communication protocol for teams of mobile robots

Interest on using mobile autonomous agents has been growing, recently, due to their capacity to cooperate for diverse purposes, from rescue to demining and security. However, such cooperation requires the exchange of state data that is time sensitive while achieving timeliness with RF communication...

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Bibliographic Details
Published in2008 IEEE International Conference on Emerging Technologies and Factory Automation pp. 1197 - 1204
Main Authors Santos, F., Almeida, L., Lopes, L.S.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2008
Subjects
Delay
Protocols
Robot kinematics
Robot sensing systems
Robots
Synchronization
Time division multiple access
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ISBN9781424415052
1424415055
ISSN1946-0740
DOI10.1109/ETFA.2008.4638554

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Summary:Interest on using mobile autonomous agents has been growing, recently, due to their capacity to cooperate for diverse purposes, from rescue to demining and security. However, such cooperation requires the exchange of state data that is time sensitive while achieving timeliness with RF communication is intrinsically difficult due to the openess of the medium. This paper describes a communication layer that improves the timeliness of periodic data exchanges among the team reducing the chances of lost packets caused by collisions between team members. In particular, the paper extends a previous proposal for an adaptive TDMA protocol with new self-configuration capabilities according to the current number of active team members. This feature further reduces the likelyhood of collisions within the team. Several experimental results with an actual system implementation show the effectiveness of the proposed solution.
ISBN:9781424415052
1424415055
ISSN:1946-0740
DOI:10.1109/ETFA.2008.4638554