IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Multi-Robot traveling problem constrained by connectivity
ICPCA/SWS'12 Proceedings of the 2012 international conference on Pervasive Computing and the Networked World
Signal-based deployment planning for robot teams in tunnel-like fading environments
International Journal of Robotics Research
Efficient base station connectivity area discovery
International Journal of Robotics Research
Decentralized connectivity maintenance for cooperative control of mobile robotic systems
International Journal of Robotics Research
Exploiting multipath fading with a mobile robot
International Journal of Robotics Research
Robotic Urban Search and Rescue: A Survey from the Control Perspective
Journal of Intelligent and Robotic Systems
Bluetooth aided mobile phone localization: A nonlinear neural circuit approach
ACM Transactions on Embedded Computing Systems (TECS)
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In this paper, we present an experimental study of strategies for maintaining end-to-end communication links for tasks such as surveillance, reconnaissance, and target search and identification, where team connectivity is required for situational awareness. Our main contributions are threefold: (a) We present the construction of a radio signal strength map that can be used to plan multi-robot tasks, and also serve as useful perceptual information. We show how a nominal model of an urban environment obtained by aerial surveillance, is used to generate strategies for exploration. (b) We present reactive controllers for communication link maintenance; and (c) we consider the differences between monitoring signal strength versus data throughput. Experimental results, obtained using our multi-robot testbed in three representative urban environments are presented with each of our main contributions. © 2008 Wiley Periodicals, Inc.