Robotic Routers: Algorithms and Implementation

Tekdas, Onur; Yang, Wei; Isler, Volkan

doi:10.1177/0278364909105053

Cited by 46 publications

(39 citation statements)

References 12 publications

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“…Similar to Section III-C, our proposed approach performs considerably better. 7 In Section VI, we will further 7 On the right side of Fig. 10, two routers almost converge to the same location to maximize the Fiedler eigenvalue because of the environmental constraints.…”

Section: Performance Of the Proposed Robotic Router Optimization Fmentioning

confidence: 94%

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Robotic Router Formation in Realistic Communication Environments

2012

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Abstract-In this paper, we consider the problem of robotic router formation, where two nodes need to maintain their connectivity over a large area by using a number of mobile routers. We are interested in the robust operation of such networks in realistic communication environments that naturally experience path loss, shadowing, and multipath fading. We propose a probabilistic router formation and motion-planning approach by integrating our previously proposed stochastic channel learning framework with robotic router optimization. We furthermore consider power constraints of the network, including both communication and motion costs, and characterize the underlying tradeoffs. Instead of taking the common approach of formation optimization through maximization of the Fiedler eigenvalue, we take a different approach and use the end-to-end bit error rate (BER) as our performance metric. We show that the proposed framework results in a different robotic configuration, with a considerably better performance, as compared with only considering disk models for communication and/or maximizing the Fielder eigenvalue. Finally, we show the performance with a simple preliminary experiment, with an emphasis on the impact of localization errors. Along this line, we show interesting interplays between the localization quality and the channel correlation/learning quality.

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Section: Performance Of the Proposed Robotic Router Optimization Fmentioning

confidence: 94%

“…A spring-damper model, on the other hand, still requires designing a function that translates the link quality to proper forces. In [7], two robotic router algorithms, which are known as user trajectory algorithm and adversarial user trajectory algorithm, are proposed. More relevant communication-oriented metrics have also been utilized.…”

Section: Introductionmentioning

confidence: 99%

Robotic Router Formation in Realistic Communication Environments

2012

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“…For example, Tekdas and Yang (2010) noticed the similarity between pursuit-evasion games and mobile routing for networking. Applying this similarity, they proposed motion planning algorithms for robotic routers to maintain connectivity between a mobile user and a base station.…”

Section: Previous Workmentioning

confidence: 99%

Tracking an omnidirectional evader with a differential drive robot at a bounded variable distance

Ruiz

Marroquín

Murrieta-Cid

2014

International Journal of Applied Mathematics and Computer Science

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In this paper, we address the pursuit-evasion problem of tracking an Omnidirectional Agent (OA) at a bounded variable distance using a Differential Drive Robot (DDR), in an Euclidean plane without obstacles. We assume that both players have bounded speeds, and that the DDR is faster than the evader, but due to its nonholonomic constraints it cannot change its motion direction instantaneously. Only a purely kinematic problem is considered, and any effect due to dynamic constraints (e.g., acceleration bounds) is neglected. We provide a criterion for partitioning the configuration space of the problem into two regions, so that in one of them the DDR is able to control the system, in the sense that, by applying a specific strategy (also provided), the DDR can achieve any inter-agent distance (within an error bound), regardless of the actions taken by the OA. Particular applications of these results include the capture of the OA by the DDR and maintaining surveillance of the OA at a bounded variable distance.

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“…Connectivity for an adversarial agent is investigated in [7] for a single agent that must be tethered to a base station. The authors' previous work, [8] and [9], provides distributed approaches for communication and connectivity problems but in that work sensors are assumed to be stationary.…”

Section: Related Workmentioning

confidence: 99%

Communication coverage for independently moving robots

Gil

Feldman

Rus

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-We consider the task of providing communication coverage to a group of sensing robots (sensors) moving independently to collect data. We provide communication via controlled placement of router vehicles that relay messages from any sensor to any other sensor in the system under the assumptions of 1) no cooperation from the sensors, and 2) only sensor-router or routerrouter communication over a maximum distance of R is reliable. We provide a formal framework and design provable exact and approximate (faster) algorithms for finding optimal router vehicle locations that are updated according to sensor movement. Using vehicle limitations, such as bounded control effort and maximum velocities of the sensors, our algorithm approximates areas that each router can reach while preserving connectivity and returns an expiration time window over which these positions are guaranteed to maintain communication of the entire system. The expiration time is compared against computation time required to update positions as a decision variable for choosing either the exact or approximate solution for maintaining connectivity with the sensors on-line.

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Robotic Routers: Algorithms and Implementation

Cited by 46 publications

References 12 publications

Robotic Router Formation in Realistic Communication Environments

Robotic Router Formation in Realistic Communication Environments

Tracking an omnidirectional evader with a differential drive robot at a bounded variable distance

Communication coverage for independently moving robots

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