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Efficient Distributed Communications for Multi-robot Systems

  • João C. G. Reis
  • Pedro U. Lima
  • João Garcia
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8371)

Abstract

Wireless communications are one of the technical problems that must be addressed by cooperative robot teams. The wireless medium often becomes heavily loaded and the robots may take too long to successfully transmit information, resulting in outdated shared data or failures in cooperative behaviors that require synchronization among teammates. This paper introduces a novel solution to enable the immediate transmission of synchronization data in a way designed to reduce and better tolerate packet loss. It does so by categorizing the communications in multi-robot systems in two classes, robot state diffusion and synchronization messages. For the former, an existing adaptive transmission method (RA-TDMA) is used, and for the latter a novel solution was developed. Experiments show an important delay reduction when sending synchronization messages over a loaded network.

Keywords

Network Load Robot State Robot Operating System Require List Synchronization Message 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • João C. G. Reis
    • 1
  • Pedro U. Lima
    • 1
  • João Garcia
    • 2
  1. 1.Instituto de Sistemas e RobóticaInstituto Superior TécnicoPortugal
  2. 2.INESC-ID LisboaInstituto Superior TécnicoPortugal

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