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Paper WeB04.2

Fink, Jonathan (ARL), Ribeiro, Alejandro (University of Pennsylvania), Kumar, Vijay (University of Pennsylvania)

Motion Planning for Robust Wireless Networking

Scheduled for presentation during the Regular Session "Networked Robots" (WeB04), Wednesday, May 16, 2012, 10:45−11:00, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords Networked Robots, Motion and Path Planning

Abstract

We propose an architecture and algorithms for maintaining end-to-end network connectivity for autonomous teams of robots. By adopting stochastic models of point-to-point wireless communication and computing robust solutions to the network routing problem, we ensure reliable connectivity during robot movement in complex environments. We fully integrate the solution to network routing with the choice of node positions through the use of randomized motion planning techniques. Experiments demonstrate that our method succeeds in navigating a complex environment while ensuring that end-to-end communication rates meet or exceed prescribed values within a target failure tolerance.

 

 

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