Self-configuration of an adaptive TDMA wireless communication protocol for teams of mobile robots

Santos, Frederico; Almeida, Luís; Lopes, Luís Seabra

doi:10.1109/etfa.2008.4638554

Cited by 48 publications

(27 citation statements)

References 7 publications

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“…This middleware provides, in each robot, proxies to remote data that are accessed locally similarly to local variables, thus without suffering communication delays. The proxies are updated in the background by a wireless communication protocol named RA-TDMA (Reconfigurable and Adaptive Time Division Multiple Access) [20].…”

Section: Information Integrationmentioning

confidence: 99%

“…The covariance model expression in (19) is first converted into the canonical form and then projected onto the ground plane (20) to simplify the process of covariance merging later.…”

Section: Socrob: Target Position Covariance Modelmentioning

confidence: 99%

“…Thus, we use a communication protocol that autosynchronizes the robot transmissions over the wireless medium, reducing collisions and improving the quality of the communication. We built upon the work in [20] to extend such protocol to ad-hoc networks that are better suited to robot teams [21]. We also used this protocol to provide an alternative relative localization system based on RF-ranging [21] later combined with signal strength information for faster localization assessment.…”

Section: Introductionmentioning

confidence: 99%

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Formation control driven by cooperative object tracking

Lima

Ahmad

Dias

et al. 2015

Robotics and Autonomous Systems

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a b s t r a c tIn this paper we introduce a formation control loop that maximizes the performance of the cooperative perception of a tracked target by a team of mobile robots, while maintaining the team in formation, with a dynamically adjustable geometry which is a function of the quality of the target perception by the team. In the formation control loop, the controller module is a distributed non-linear model predictive controller and the estimator module fuses local estimates of the target state, obtained by a particle filter at each robot. The two modules and their integration are described in detail, including a real-time database associated to a wireless communication protocol that facilitates the exchange of state data while reducing collisions among team members. Simulation and real robot results for indoor and outdoor teams of different robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target cooperative estimate while complying with performance criteria such as keeping a pre-set distance between the teammates and the target, avoiding collisions with teammates and/or surrounding obstacles.

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Section: Information Integrationmentioning

confidence: 99%

“…The covariance model expression in (19) is first converted into the canonical form and then projected onto the ground plane (20) to simplify the process of covariance merging later.…”

Section: Socrob: Target Position Covariance Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Formation control driven by cooperative object tracking

Lima

Ahmad

Dias

et al. 2015

Robotics and Autonomous Systems

Self Cite

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“…DataBase (RTDB) middleware, originally developed in 2004 [7], and the reconfigurable adaptive-TDMA protocol described in [8]. The RTDB middleware targets providing an efficient and timely support for the fusion of the distributed perception and the development of coordinated behaviors by providing a seamless access to the complete team state using a distributed database that is partially replicated in all team members.…”

Section: Further Improvementsmentioning

confidence: 99%

Communicating among Robots in the RoboCup Middle-Size League

Santos

Almeida

Lopes

et al. 2010

RoboCup 2009: Robot Soccer World Cup XIII

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Abstract. The RoboCup Middle-Size League robotic soccer competitions pose a real cooperation problem for teams of mobile autonomous robots. In the current state-of-practice cooperation is essential to overcome the opponent team and thus a wireless communication protocol and associated middleware are now fundamental components in the multirobots system architecture. Nevertheless, the wireless communication has relatively low reliability and limited bandwidth. Since it is shared by both teams, it is a fundamental resource that must be used parsimoniously. Curiously, to the best of our knowledge, no previous study on the effective use of the wireless medium in actual game situations was done. In this paper we show how current teams use the wireless medium and we propose a set of best practices towards a more efficient utilization. Then, we present a communication protocol and middleware that follow such best practices and have been successfully used by one particular MSL team in the past four years.

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“…To exchange the information between the agents in the field, it is used a Wireless LAN [12,13] and each team has a different one. In the connection between Referee Box and base station is used a wired TCP LAN connection using a standard protocol [1] to report the events of the game.…”

Section: Communication and Internal Architecturementioning

confidence: 99%

Control and Monitoring of a Robotic Soccer Team: The Base Station Application

Figueiredo

Neves

Lau

et al. 2009

Progress in Artificial Intelligence

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Abstract. In robotic soccer, teams of autonomous robots play soccer according to rules similar to the official FIFA rules. The game is refereed by a human and his orders are communicated to the teams using an application called "Referee Box". No human interference is allowed during the games except for removing malfunctioning robots and re-entering robots in the game. The base station, a software application as described in this paper, has a determinant role during the development of a robotic soccer team and also during a game. This application must control the agents interpreting and sending high level instructions, like Start or Stop, and monitor information of the robots, for example the position and velocity, allowing easily to attest the feasibility of the robots behavior. This paper discusses the importance of the control and monitoring of a robotic soccer team, presenting the main challenges and the approaches that were used by the CAMBADA team in the conception of the base station application. As far as we know, no previous work has been published about the study of these important problems and the discussion of an efficient architecture to a base station application. The results obtained by the team confirms the good performance of this software, both during the games and in the development of the team.

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Self-configuration of an adaptive TDMA wireless communication protocol for teams of mobile robots

Cited by 48 publications

References 7 publications

Formation control driven by cooperative object tracking

Formation control driven by cooperative object tracking

Communicating among Robots in the RoboCup Middle-Size League

Control and Monitoring of a Robotic Soccer Team: The Base Station Application

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