Communication network challenges for collaborative vehicles

Abstract

Networked systems of autonomous mobile agents have emerged in a variety of applications such as collaborative robotics, unmanned aerial/ground vehicles, mobile sensor networks and disaster relief operations. These agents utilize wireless communications for distributed computing, control and decision-making. Due to their limitations on energy supply, design and implementation of efficient distributed algorithms are crucial for these systems. This paper reviews different design aspects of networks of collaborative vehicles. We survey existing methods of addressing physical (PHY) and medium access control (MAC) layer, routing, and geometric connectivity issues for such networks and show limitations of these designs that address only single layer issues. We argue that a system engineering framework is needed for the design of such systems.

Low Frequency Multi-Robot Networking

“…The need for a systems-based approach for multi-robot networking has long been recognized [1]. The multi-robot network problem includes physical layer, medium access control (MAC), routing, and geometric connectivity topology, all in the context of the autonomous system goals.…”

“…For very practical reasons, many propagation measurement campaigns can only sample a few frequencies, but this makes it difficult to discern the changes occurring when comparing, say, 40 and 100 MHz, where wavelength changes from 7.5 to 3 m and the environment may seem quite different in terms of scatterer size and spacing. 1 Statistical models have also been developed in the lower VHF, building on the Rayleigh-Rician framework, and the parameters can be adapted as a function of frequency. Generally, penetration results in a LOS-like component, and low-VHF Rician models have been explored for some environments.…”