Delay minimization of tree-based neighbor discovery in mobile robot networks

Authors:
Heejun Roh;Kyunghwi Kim;Wonjun Lee
Affiliations:
Dept. of Computer Science and Engineering, Korea University, Seoul, Korea;Dept. of Computer Science and Engineering, Korea University, Seoul, Korea;Dept. of Computer Science and Engineering, Korea University, Seoul, Korea
Venue:
WASA'10 Proceedings of the 5th international conference on Wireless algorithms, systems, and applications
Year:
2010

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Abstract

In this paper, delay minimization schemes for tree-based neighbor discovery in mobile robot networks are proposed and analyzed. Depending on the tree construction scheme, the expected value of neighbor discovery delay is changed. In our study, we focus on M-ary and M-Binary tree-based neighbor discovery. Regarding the number of neighboring robots, M-ary tree-based neighbor discovery has low but steady performance whilst M-Binary tree-based neighbor discovery shows better performance for optimal M. The simulation results provide performance comparisons of these schemes.