Signal-based deployment planning for robot teams in tunnel-like fading environments

Abstract

Deploying a multi-robot team in confined environments poses multiple challenges that involve task and motion planning, localization and mapping, safe navigation, coordination of robots and also communications among all of them. In recent years, increasing attention has been paid to these challenges by the robotics community, but many problems remain unresolved. In this paper we address a technique for planning the deployment of a robot team in so-called fading environments, such as tunnels or galleries, where signal propagation presents specific characteristics. In order to maintain constant connectivity and high signal quality in the communication network formed by the robots and the base station, the robot deployment is driven by real-time signal measurements. First, an analysis of the signal propagation to obtain the general characteristic parameters of the signals in this kind of environment is carried out. Second, a technique which uses these parameters to drive the deployment is developed. A general strategy for this kind of environment in which the signals exhibit similar behavior is implemented. A complete system involving all of the above-mentioned robotics tasks has been developed. Finally, the system has been evaluated by means of simulation and in a real scenario.

A Methodology for Localization in Tunnels Based on Periodic RF Signal Fadings

“…4). In [10] we have demonstrated that the galleries and emergency shelters have no significant effect on propagation in the tunnel, and that these fadings are repeatable in both temporal and spatial domains. In Fig.…”

“…Fadings in these confined environments are unavoidable and are usually considered a serious problem for communication purposes. However, an appropriate choice of the antenna positions allows the generation and detection of somewhat 'ad-hoc', known-geometry fading structures, useful for the elaboration of coverage maps and navigation inside tunnels (see [9], [10]), and as we are proposing here, for localization.…”

A General Framework for Synchronizing a Team of Robots Under Communication Constraints

“…The coordination between two or more robots in the team is important for team performance, to prevent collisions between robots occupying the same space, and to maintain proximity in order to perform a task cooperatively ( [20,3,26]). Applications scenarios include:…”

A Study of Routing Path Decision Method Using Mobile Robot Based on Distance Between Sensor Nodes

“…This algorithm considers that the mobile robot has to return starting point to reload sensors and impact of different deployment strategies. Rizzo et al proposed the deployment method of a robot team in fading environments [17]. In this method, to maintain constant connectivity and high signal quality in the communication network formed by the robots and the base station, the robot deployment is driven by RSSI measurements.…”