Evaluating Control Strategies for
Wireless-Networked Robots Using an Integrated
Robot and Network Simulation
Wei Ye, Richard T
Citation
Wei Ye, Richard T. Vaughyan, Gaurav S. Sukhatme, John Heidemann, Deborah Estrin and Maja J. Matarić. Evaluating Control Strategies for Wireless-Networked Robots Using an Integrated Robot and Network Simulation. Proceedings of the IEEE International Conference on Robotics and Automation (Seoul, Korea, May 2001), 2941–2947. [DOI] [PDF] [alt PDF]
Abstract
Wireless communication is an enabling factor in multiple mobile robot systems. There is signi cant interaction between robot controllers and communications sub-systems. We present a method for evaluating combined robot control/communication strategies for a team of wireless-networked robots performing a resource transportation task. Two alternative controller designs are compared under established communication and radio propagation models. For each we measure the over-all performance of the robot team including the cost of communication. The study illustrates how our evaluation tools can be used for designing controllers for robots operating in wireless communication environments.Bibtex Citation
@inproceedings{Ye01a,
author = {Ye, Wei and Vaughyan, Richard T. and Sukhatme, Gaurav S. and Heidemann, John and Estrin, Deborah and Matari{\'c}, Maja J.},
title = {Evaluating Control Strategies for
Wireless-Networked Robots Using an Integrated
Robot and Network Simulation},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
year = {2001},
sortdate = {2001-05-01},
project = {ilense, scadds, conser, saman},
jsubject = {sensornet_general},
publisher = {IEEE},
address = {Seoul, Korea},
month = may,
pages = {2941--2947},
jlocation = {johnh: folder: xxx},
keywords = {networking and robotics, ns-2, arena, player/stage},
copyrightterms = {
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permission to reprint/republish this material for advertising
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},
organization = {USC/Information Sciences Institute},
doi = {http://dx.doi.org/10.1109/ROBOT.2001.933068},
url = {https://ant.isi.edu/%7ejohnh/PAPERS/Ye01a.html},
psurl = {https://ant.isi.edu/%7ejohnh/PAPERS/Ye01a.ps.gz},
pdfurl = {https://ant.isi.edu/%7ejohnh/PAPERS/Ye01a.pdf}
}