Social potential fields: a distributed behavioral control for autonomous robots
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
802.11: Leaving the Wire Behind
IEEE Internet Computing
A priority MAC protocol to support real-time traffic in ad hoc networks
Wireless Networks
EURASIP Journal on Wireless Communications and Networking
Link quality prediction in mesh networks
Computer Communications
Communicative exploration with robot packs
RoboCup 2005
Coordinated multi-robot exploration
IEEE Transactions on Robotics
Movement control algorithms for realization of fault-tolerant ad hoc robot networks
IEEE Network: The Magazine of Global Internetworking
A modular design of Bayesian networks using expert knowledge: Context-aware home service robot
Expert Systems with Applications: An International Journal
Automatica (Journal of IFAC)
Signal-based deployment planning for robot teams in tunnel-like fading environments
International Journal of Robotics Research
Robotic Urban Search and Rescue: A Survey from the Control Perspective
Journal of Intelligent and Robotic Systems
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The growing interest in robot teams for surveillance or rescue missions entails new technological challenges. Robots have to move to complete their tasks while maintaining communication among themselves and with their human operators, in many cases without the aid of a communication infrastructure. Guaranteeing connectivity enables robots to explicitly exchange information needed in collaborative task execution, and allows operators to monitor or manually control any robot at all times. Network paths should be multi-hop, so as not to unnecessarily restrict the team's range. In this work we contribute a complete system which integrates three research aspects, usually studied separately, to achieve these characteristics: a multi-robot cooperative motion control technique based on a virtual spring-damper model which prevents communication network splits, a task allocation algorithm that takes advantage of network link information in order to ensure autonomous mission completion, and a network layer which works over wireless 802.11 devices, capable of sustaining hard real-time traffic and changing topologies. Link quality among peers is the key metric used to cooperatively move the robots and maintain uninterrupted connectivity, and the basis for novel ideas presented in each subsystem. Simulations and experimental results with real robots are presented and discussed.