FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMS
Assume a team of mobile robots operating in environments where no communication infrastructure like routers or access points is available. The robots have to create a mobile ad hoc network, in that case, it provides communication on peer-to-peer basis. The paper gives an overview of existing solutio...
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| Format: | Article |
| Language: | English |
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Czech Technical University in Prague
2016-11-01
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| Series: | Acta Polytechnica CTU Proceedings |
| Online Access: | https://ojs.cvut.cz/ojs/index.php/APP/article/view/3928 |
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| author | Khilda Slyusar Miroslav Kulich |
| author_facet | Khilda Slyusar Miroslav Kulich |
| author_sort | Khilda Slyusar |
| collection | DOAJ |
| description | Assume a team of mobile robots operating in environments where no communication infrastructure like routers or access points is available. The robots have to create a mobile ad hoc network, in that case, it provides communication on peer-to-peer basis. The paper gives an overview of existing solutions how to route messages in such ad hoc networks between robots that are not directly connected and introduces a design of a software framework for realization of such communication. Feasibility of the proposed framework is shown on the example of distributed multi-robot exploration of an a priori unknown environment. Testing of developed functionality in an exploration scenario is based on results of several experiments with various input conditions of the exploration process and various sizes of a team and is described herein. |
| format | Article |
| id | doaj-art-85bbf1254d804a9aa27167f2fb4d1b8e |
| institution | DOAJ |
| issn | 2336-5382 |
| language | English |
| publishDate | 2016-11-01 |
| publisher | Czech Technical University in Prague |
| record_format | Article |
| series | Acta Polytechnica CTU Proceedings |
| spelling | doaj-art-85bbf1254d804a9aa27167f2fb4d1b8e2025-08-20T02:52:23ZengCzech Technical University in PragueActa Polytechnica CTU Proceedings2336-53822016-11-0160182710.14311/APP.2016.6.00183482FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMSKhilda Slyusar0Miroslav Kulich1Czech Technical University in Prague, Zikova 1903/4, 166 36 Prague, Czech RepublicCzech Technical University in Prague, Zikova 1903/4, 166 36 Prague, Czech RepublicAssume a team of mobile robots operating in environments where no communication infrastructure like routers or access points is available. The robots have to create a mobile ad hoc network, in that case, it provides communication on peer-to-peer basis. The paper gives an overview of existing solutions how to route messages in such ad hoc networks between robots that are not directly connected and introduces a design of a software framework for realization of such communication. Feasibility of the proposed framework is shown on the example of distributed multi-robot exploration of an a priori unknown environment. Testing of developed functionality in an exploration scenario is based on results of several experiments with various input conditions of the exploration process and various sizes of a team and is described herein.https://ojs.cvut.cz/ojs/index.php/APP/article/view/3928 |
| spellingShingle | Khilda Slyusar Miroslav Kulich FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMS Acta Polytechnica CTU Proceedings |
| title | FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMS |
| title_full | FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMS |
| title_fullStr | FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMS |
| title_full_unstemmed | FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMS |
| title_short | FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMS |
| title_sort | framework for ad hoc network communication in multi robot systems |
| url | https://ojs.cvut.cz/ojs/index.php/APP/article/view/3928 |
| work_keys_str_mv | AT khildaslyusar frameworkforadhocnetworkcommunicationinmultirobotsystems AT miroslavkulich frameworkforadhocnetworkcommunicationinmultirobotsystems |