FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMS

Authors

  • Khilda Slyusar Czech Technical University in Prague, Zikova 1903/4, 166 36 Prague, Czech Republic
  • Miroslav Kulich Czech Technical University in Prague, Zikova 1903/4, 166 36 Prague, Czech Republic

DOI:

https://doi.org/10.14311/APP.2016.6.0018

Abstract

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.

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Published

2016-11-23

How to Cite

Slyusar, K., & Kulich, M. (2016). FRAMEWORK FOR AD HOC NETWORK COMMUNICATION IN MULTI-ROBOT SYSTEMS. Acta Polytechnica CTU Proceedings, 6, 18–27. https://doi.org/10.14311/APP.2016.6.0018