This work demonstrates how dynamic robot behaviour that responds to different types of network disturbances can improve communication and mission performance in a Multi-Robot Team (MRT). A series of experiments are conducted which show how two different network perturbations (i.e. packet loss and signal loss) and two different network types (i.e. wireless local area network and ad-hoc network) impact communication. Performance is compared using two MRT behaviours: a baseline versus a novel dynamic behaviour that adapts to fluctuations in communication quality. Experiments are carried out on a known map with tasks assigned to a robot team at the start of a mission. During each experiment, a number of performance metrics are recorded. A novel dynamic Leader-Follower (LF) behaviour enables continuous communication through two key functions: the first reacts to the network type by using signal strength to determine if the robot team must commit to grouping together to maintain communication; and the second employs a special task status messaging function that guarantees a message is communicated successfully to the team members. The results presented in this work are significant for real-world multi-robot system applications that require continuous communication amongst team members.
CITATION STYLE
Zhivkov, T., Schneider, E., & Sklar, E. (2019). MRComm: Multi-robot communication testbed. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 11650 LNAI, pp. 346–357). Springer Verlag. https://doi.org/10.1007/978-3-030-25332-5_30
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