ICRA 2011 Paper Abstract


Paper ThP102.2

Chiu, Chi Ho (University of Southern California), Shen, Wei-Min (USC Information Science Inst.)

ANCHOR - Self-Configuring Robotic Network

Scheduled for presentation during the Regular Sessions "Distributed and Networked Robot Systems" (ThP102), Thursday, May 12, 2011, 13:55−14:10, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Networked Robots, Distributed Robot Systems, Sensor Networks


A challenging task for a robotic radio network is to establish the connectivity among a set of entities (humans or radio nodes) in an unknown environment with minimum number of robots. The main difficulty is that the locations of the entities and the radio connectivities between the physical locations are not known in advance. We represent the problem by a topological graph of locations with known access links but unknown radio links (to be discovered dynamically) and develop a novel {em ANCHOR} algorithm for a set of autonomous robots to self-organize a radio network to connect the given entities with the least number of robots. We show in simulation analysis the algorithm scale near-linearly with maximum number of connected hops away from the terminals. Experiment also shows performance improvement with increasing number of robots.



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