Value-Based Communication Preservation for Mobile Robots
Value-Based Communication Preservation (VBCP) is a behavior-based, computationally efficient approach to maintaining line-of-sight RF communication between members of robot teams in the context of other tasks. The goal of VBCP is, at each time step, to reactively choose a direction in which to move that provides the best communication quality of service with the rest of the team. VBCP uses information about other robots, real-time quality of service measurements and an a priori map of the environment to approximate an optimal direction in an efficient manner. Here, VBCP maintains communication between members of a robotic team while traversing an urban environment in formation. Quantitative and qualitative results are demonstrated in simulation and physical robot teams.
KeywordsMobile Robot Movement Vector Communication Quality Georgia Tech Robot Team
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