Vandermeulen, I., Groß, R. orcid.org/0000-0003-1826-1375 and Kolling, A. (2019) Re-establishing communication in teams of mobile robots. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 01-05 Oct 2018, Madrid, Spain. IEEE
Abstract
As communication is important for cooperation, teams of mobile robots need a way to re-establish a wireless connection if they get separated. We develop a method for mobile robots to maintain a belief of each other's positions using locally available information. They can use their belief to plan paths with high probabilities of reconnection. This approach also works for subteams cooperatively searching for a robot or group of robots that they would like to reconnect with. The problem is formulated as a constrained optimization problem which is solved using a branch-and-bound approach. We present simulation results showing the effectiveness of this strategy at reconnecting teams of up to five robots and compare the results to two other strategies.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 10 Sep 2018 10:14 |
Last Modified: | 07 Jan 2020 01:39 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/IROS.2018.8594460 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:135485 |