Abstract
Wireless communications are one of the technical problems that must be addressed by cooperative robot teams. The wireless medium often becomes heavily loaded and the robots may take too long to successfully transmit information, resulting in outdated shared data or failures in cooperative behaviors that require synchronization among teammates. This paper introduces a novel solution to enable the immediate transmission of synchronization data in a way designed to reduce and better tolerate packet loss. It does so by categorizing the communications in multi-robot systems in two classes, robot state diffusion and synchronization messages. For the former, an existing adaptive transmission method (RA-TDMA) is used, and for the latter a novel solution was developed. Experiments show an important delay reduction when sending synchronization messages over a loaded network. © 2014 Springer-Verlag Berlin Heidelberg.
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CITATION STYLE
Reis, J. C. G., Lima, P. U., & Garcia, J. (2014). Efficient distributed communications for multi-robot systems. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8371 LNAI, pp. 280–291). Springer Verlag. https://doi.org/10.1007/978-3-662-44468-9_25
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