Dependable Communication for Mobile Robots in Industrial Wireless Mesh Networks

Lindhorst, Timo; Nett, Edgar

doi:10.1007/978-3-319-18299-5_10

Cited by 3 publications

(4 citation statements)

References 22 publications

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“…Compared to solutions proposed in [32,36], our solution achieves lower latencies. In [36], when using the full QoS feature set of the system with two high priority ows, they reach an average latency of 7.1 ms for unicast tra c compared to an average latency of 3.8 ms with our system.…”

Section: Combined Networkmentioning

confidence: 94%

“…In ad hoc networks, link management and neighbor discovery mechanisms are crucial in the performance of the routing protocol. In [32], link break detection is done within the routing protocol by using hello messages. We use the same approach by sending beacons in the ad hoc network to announce the presence of a node and to detect link breaks in the absence of beacons.…”

Section: Related Workmentioning

confidence: 99%

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Flexible Wi-Fi Communication among Mobile Robots in Indoor Industrial Environments

Haxhibeqiri

Jarchlo

Moerman

et al. 2018

Mobile Information Systems

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In order to speed up industrial processes and to improve logistics, mobile robots are getting important in industry. In this paper, we propose a flexible and configurable architecture for the mobile node that is able to operate in different network topology scenarios. The proposed solution is able to operate in presence of network infrastructure, in ad hoc mode only, or to use both possibilities. In case of mixed architecture, mesh capabilities will enable coverage problem detection and overcoming. The solution is based on real requirements from an automated guided vehicle producer. First, we evaluate the overhead introduced by our solution. Since the mobile robot communication relies in broadcast traffic, the broadcast scalability in mesh network is evaluated too. Finally, through experiments on a wireless testbed for a variety of scenarios, we analyze the impact of roaming, mobility and traffic separation, and demonstrate the advantage of our approach in handling coverage problems.

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Section: Combined Networkmentioning

confidence: 94%

Section: Related Workmentioning

confidence: 99%

Flexible Wi-Fi Communication among Mobile Robots in Indoor Industrial Environments

Haxhibeqiri

Jarchlo

Moerman

et al. 2018

Mobile Information Systems

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“…105 When mobility is involved, however, these protocols must be complemented by meshing technologies to cope with handovers and with the massive presence of metal. 106,107 The last means is fault tolerance, which allows the system to keep working even when components fail. Redundancy is key to fault tolerance, and the IoRT enables redundancy of sensors, information and actuation.…”

Section: Dependabilitymentioning

confidence: 99%

The Internet of Robotic Things

Simoens

Dragone

Saffiotti

2018

International Journal of Advanced Robotic Systems

171

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The Internet of Robotic Things is an emerging vision that brings together pervasive sensors and objects with robotic and autonomous systems. This survey examines how the merger of robotic and Internet of Things technologies will advance the abilities of both the current Internet of Things and the current robotic systems, thus enabling the creation of new, potentially disruptive services. We discuss some of the new technological challenges created by this merger and conclude that a truly holistic view is needed but currently lacking.

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“…This is especially true for the operation of Unmanned Aerial Vehicles (UAV) which neccessarily depend on error-prone wireless communication links. Special middleware concepts exist for mobile robotics in the industrial domain [2] that manage Quality of Service (QoS) constraints as non-functional parameters. Individual applications can register their needs for communication resources, e.g.…”

Section: Motivationmentioning

confidence: 99%

Exploring Gridmap-based Interfaces for the Remote Control of UAVs under Bandwidth Limitations

Riestock

Engelhardt

Zug

et al. 2017

Proceedings of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction

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The successes of teleoperation scenarios for mobile robots depends on a stable and reliable communication link. The environment information collected by the robot -represented by 2D or 3D images -has to be provided with a high resolution and a low delay to ensure a fast and precise system response. But in most realistic applications, the communication parameters fluctuate strongly over time. It is necessary to monitor the communication link continuously to react in case of reduced bandwidth and increased delay. But which environment information and correspondingly which bandwidth is necessary to control a robot safely? Due to a missing reliable rule set we investigated this question for a UAV scenario based on two different environment representations (camera images, gridmaps). We designed a simulator based study and evaluated the capability of the participants to control a robot in case of delayed or coarsely rasterized information. KeywordsUAV teleoperation; remote-controlled robots; user interface design MOTIVATIONRemotely controlled robots are widely used in industry, disaster management or in medical scenarios. Each remote robot scenario represents a closed loop control application. Sensors attached to a robot generate the input information for the operator. He reacts on the received environment data and provides commands via different interfaces. For this task, the operator needs to receive all relevant information in an appropriate format. In many applications the environment situation is reflected by either using (multiple) video streams, or by transmitting whole (3D) maps to the operator's desk, representing a cumulated sensor information over time. Depending on the dynamics of the controlled system and its environment, we have to consider constraints within the con- * This work was partially supported by the German Research Foundation (DFG) research project "MoCoRo Plattform für mobile kooperative Robotik" Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the owner/author(s). trol loop that are induced by the communication channel. In case of a long delay the robot is not able to move with high velocity, to avoid occurring obstacles or to interact precisely with the surroundings. In case of limited bandwidth the video streams have to be downsampled or compressed. The aspects of communication bandwidth and delay are strongly connected with the communication configuration. Especially in ad-hoc scenarios (e.g. disaster robotics [4]) the communication bandwidth is limited, varies over time and does not ensure a specific response time. This is especially true for the operation of Unmanned Aerial Vehicles (UAV) which neccessarily depend on error-prone wireless communication link...

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Dependable Communication for Mobile Robots in Industrial Wireless Mesh Networks

Cited by 3 publications

References 22 publications

Flexible Wi-Fi Communication among Mobile Robots in Indoor Industrial Environments

Flexible Wi-Fi Communication among Mobile Robots in Indoor Industrial Environments

The Internet of Robotic Things

Exploring Gridmap-based Interfaces for the Remote Control of UAVs under Bandwidth Limitations

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