Robotic Routers: Algorithms and Implementation

Authors:
Onur Tekdas; Wei Yang;Volkan Isler
Affiliations:
Computer Science and Engineering Department, Universityof Minnesota, 4-192 EE/CS Building, 200 Union Street SE, Minneapolis, MN 55455,USA;Department of Computer Science Rensselaer PolytechnicInstitute 110 8th Street, Lally 207 Troy, NY 12180, USA;Computer Science and Engineering Department, Universityof Minnesota, 4-192 EE/CS Building, 200 Union Street SE, Minneapolis, MN 55455,USA
Venue:
International Journal of Robotics Research
Year:
2010

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Abstract

Mobile robots equipped with wireless networking capabilities can act as robotic routers and provide network connectivity to mobile users. Robotic routers provide cost-efficient solutions for the deployment of a wireless network in a large environment with a limited number of users. In this paper, we present motion planning algorithms for robotic routers to maintain the connectivity of a single user to a base station. We consider two motion models for the user. In the first model, the userâ聙聶s motion is known in advance. In the second model, the user moves in an adversarial fashion and tries to break the connectivity. We present optimal motion planning strategies for both models. We also present details of a proof-of-concept implementation.