ICRA 2011 Paper Abstract


Paper ThP102.4

Kuo, Victor (The University of Sydney), Fitch, Robert Charles (University of Sydney)

A Multi-Radio Architecture for Neighbor-To-Neighbor Communication in Modular Robots

Scheduled for presentation during the Regular Sessions "Distributed and Networked Robot Systems" (ThP102), Thursday, May 12, 2011, 14:25−14:40, 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 Cellular and Modular Robots, Networked Robots, Distributed Robot Systems


Decentralized control of modular robots requires reliable inter-module communication. Communication links must tolerate module misalignment and implement the neighbor-to-neighbor communication model. We propose a wireless system based on multiple radios per module that addresses these challenges. Our system scales to large robots because available bandwidth is independent of the number of modules. In this paper, we present our multi-radio single-channel architecture and validate its performance through hardware experiments. Results show that radios can provide reliable neighbor-to-neighbor communication suitable for modular robots.



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