Internetworking with TCP/IP, Volume 1: Principles, Protocols, and Architectures, Fourth Edition
Internetworking with TCP/IP, Volume 1: Principles, Protocols, and Architectures, Fourth Edition
A New Approach to Object-Oriented Middleware
IEEE Internet Computing
Adaptive teams of autonomous aerial and ground robots for situational awareness: Field Reports
Journal of Field Robotics - Special Issue on Teamwork in Field Robotics
TCP performance issues over wireless links
IEEE Communications Magazine
Editorial: Towards Autonomous Robotic Systems - Mobile Robotics in the UK
Robotics and Autonomous Systems
Adoption of Vehicular Ad Hoc Networking Protocols by Networked Robots
Wireless Personal Communications: An International Journal
A morphogenetic approach to flexible and robust shape formation for swarm robotic systems
Robotics and Autonomous Systems
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Multi-robot systems obtain their performance advantages from close collaboration of the participating robot systems. As the demand for such cooperation increases, the aspect of wireless communication is getting more and more important. To cope with the challenges of the wireless communication we propose an easy to use communication framework for a multi-robot system. This framework is designed for wireless networks, therefore it expects unreliable communication and can even cope with complete network separations. Using multicast as the default communication scheme, the framework can directly benefit from the broadcast nature of the wireless medium if such an optimisation is supported by the lower network protocols. We therefore introduce our multicast capable wireless routing protocol, which supports this optimisation. The software is implemented and frequently used in our experimental multi-robot system.