Communication-based leashing of real flying robots

Abstract

Abstract-Aerial robots are often required to remain within the communication range of a base station on the ground to exchange commands, sensor data or as a safety mechanism. For this purpose, we propose a minimal control strategy for steering ying robots using only communication hardware (e.g. WiFi module or radio modem) instead of GPS or cameras. To avoid being dependent on the specics of the communication hardware or its driver, we propose to measure the number of messages the robot receives from the base as a control input. Leashing is then performed by having the robot react to low message rates by moving towards the base in order to improve the communication. Results show both in theory and reality that this strategy can leash the robot to the base in scenarios with limited wind or base mobility.

Audio-based Relative Positioning System for Multiple Micro Air Vehicle Systems

“…Teams of flying robots can accomplish aerial coverage tasks more robustly and more efficiently compared to a single flying robot. Possible applications include rapidly-deployable communication networks [8], environmental monitoring, aerial surveillance and mapping, traffic monitoring and search and rescue [2]. However, additional challenges are imposed on the design of MAV groups that have so far prevented their use in real missions.…”

Robust acoustic source localization of emergency signals from Micro Air Vehicles

“…A search effort in rough outdoor terrain can be very time consuming and physically challenging, and keeping track of the positions of multiple rescue teams in a large area without communication infrastructure can be an additional problem. Autonomous Micro Air Vehicles (MAVs) can assist rescuers to faster locate victims in a large search area, and help coordinate rescue efforts by reporting the location of rescue teams to the mission coordinator [1]. They can directly reach potential target areas by flying over obstacles and inaccessible terrains, and hence achieve a faster area coverage than ground units.…”

Underwater Robot Swarms: Challenges and Opportunities

“…Alternatively, the network can be tolerant to breaks by having robots store messages which cannot be transmitted until a route has been established . Interestingly, the high speed at which flying robots can change position also allows them to rapidly reposition themselves so as to optimise communication or repair breaches in the network (Basu et al, 2004;Dixon and Frew, 2009;Hauert et al, 2010b).…”

“…This lower bandwidth introduces a problem for collective robotics as it must be shared with the other nearby robots. To solve this problem many researchers working on collective robotics are compromising the longer range of radio modems for higher bandwidth devices (Hauert et al, 2010b;Hoffmann et al, 2004;De Nardi et al, 2006). It has become the new trend to use WIFI devices as they are small, cheap and have become easily available (Ahrens et al, 2009;Cheng et al, 2006;Kendoul et al, 2009;Lizarraga et al, 2008).…”