Communication system for cooperative mobile robots using ad-hoc networks

Remuß, Volker; Musial, Marek

doi:10.1016/s1474-6670(17)32111-0

Cited by 5 publications

(3 citation statements)

References 4 publications

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“…Besides the above mentioned security issue, the helicopter and the control PC should be integrated into a network of mobile robots. In current research projects, several network topologies -starting form wireless LANs using infrastructure mode and several access points up to wireless ad-hoc networks using different ad-hoc routing protocols -were used [3], [4], [5], [6], [8]. Often, these networks uses standard IP based communication together with WLAN.…”

Section: B Integration Into Existing Computer Networkmentioning

confidence: 99%

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An Application Protocol to Integrate a Small Size Helicopter into an IP based Ad-Hoc Network

Zeiger¹,

Selbach²,

Ruderisch³

et al. 2007

The Proceedings of First International Conference on Robot Communication and Coordination

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In modern multi robot systems, wireless any-to-any communication in combination with highly dynamical network topologies are prerequisites for mobile robots to accomplish complex tasks. This work presents a protocol for steering and controlling a small size helicopter. It fully supports the easy integration into an internet protocol based mobile ad-hoc wireless network, as well as several security and safety issues as it is required for a reliable and robust teleoperation of an unmanned aerial vehicle. The requirements of a helicopter control protocol, as well as implementation and design details on a safe and robust teleoperation are described. Besides these implementation details, also real hardware tests are evaluated to show the seamless functionality and performance of the helicopter control protocol in combination with ad-hoc on demand distance vector routing (AODV) inside the mobile ad-hoc network. It could be proved, that the proposed application protocol for steering a small size helicopter could be used in combination with AODV and relevant parameters for a reliable communication are identified.

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Section: B Integration Into Existing Computer Networkmentioning

confidence: 99%

“…As these multi robot systems aim to enable a reliable communication between all network nodes, several approaches are used to provide connectivity. In [7] and [8], a distributed shared memory is implemented. Each robot is connected to its dedicated ground station and the ground stations are connected via network.…”

Section: Introductionmentioning

confidence: 99%

An Application Protocol to Integrate a Small Size Helicopter into an IP based Ad-Hoc Network

Zeiger¹,

Selbach²,

Ruderisch³

et al. 2007

The Proceedings of First International Conference on Robot Communication and Coordination

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“…The multiplexing uses a stripescheduling algorithm that takes into account the bandwidth fraction attached to every slot. The BBCS uses a very efficient binary-tree approach to calculate the schedule [7], which is beyond the scope of this document. The schedule only changes in case of a rerouting event and is then newly calculated just before it restarts.…”

Section: Figure 2: Channel Aggregationmentioning

confidence: 99%

Tool-Based Performance Evaluation of the BlackBoard Communication System

Remuß¹,

Zimmermann²

2007

Proceedings of the 2nd International ICST Conference on Performance Evaluation Methodologies and Tools

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This paper presents the integration of an existing real-world, realtime, ad-hoc communication system code into a discrete event simulation (DES). This embedded simulation environment can be used to analyze the communication system's behavior in regard to throughput, delay, dynamic network reconfiguration and more. The system in question is the blackboard communication system (BBCS). It is a development of the group for real-time systems and robotics of the Technische Universität Berlin (TUB). It was used in the European Project COMETS which integrated several unmanned aerial vehicles (UAVs) in cooperative fleet and is still used in several mobile systems within European robotics groups. The DES framework of choice is OMNeT++. This paper shows how the integration of the existing BBCS code into OMNeT++ is done and how it can be used to validate the BBCS. The underlying simulation model and the specific integration solutions are pointed out. The paper presents furthermore a multi UAV scenario that was analyzed in regard to the delay distribution and reliability in a dynamic reconfigured wireless network.

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