ICRA 2011 Paper Abstract


Paper ThP102.1

Vieira, Marcos (University of Southern California), Govindan, Ramesh (University of Southern California), Sukhatme, Gaurav (University of Southern California)

Towards Autonomous Wireless Backbone Deployment in Highly-Obstructed Environments

Scheduled for presentation during the Regular Sessions "Distributed and Networked Robot Systems" (ThP102), Thursday, May 12, 2011, 13:40−13:55, 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 19, 2019

Keywords Networked Robots, Search and Rescue Robots


In a setting that lacks infrastructure eg urban search and rescue, a team of networked mobile robots can provide a communication substrate by acting as routers in a wireless mesh network. We study the problem of determining the minimum number of robots, and how to position them, so that all clients using the resulting robotic network are connected and all network links satisfy minimum rate requirements. The key challenge we address is that in an environment with obstacles the strength of a wireless link is a non-monotonic function of the distance between the link end-points. The problem is thus fundamentally one of making router placement decisions in a non-metric space. Our approach to the problem is based on virtual potential fields. Clients and environmental obstacles are modeled as virtual charged particles exerting virtual forces on the robots. We validate our algorithm with physical robots in an indoor environment and demonstrate that we are able to get feasible solutions.



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