Signer, Sven, Millard, Alan Gregory orcid.org/0000-0002-4424-5953 and Gray, Ian orcid.org/0000-0003-1150-9905 (2022) Mixed-Criticality Wireless Communication for Robot Swarms. In: 9th International Workshop on Mixed Criticality Systems:Proceedings. 9th International Workshop on Mixed Criticality Systems, 05 Dec 2022 WMC , USA
Abstract
In recent years the mixed criticality systems model has been adapted for use in shared-medium communication protocols, but it has not seen deployment into swarm robotics. This paper discusses ongoing work in the application of such a model to this domain, and argues for the benefits of such an approach. In many applications, reliability of communications is essential for the correct and safe operation of the robots. Given the inherently unreliable nature of wireless inter-robot communications, this paper argues for the application of timing- and criticality-aware communication protocols to be able to provide more reliable task-level performance of swarm robotics applications. In this work we define two illustrative swarm applications with two tasks at different criticality levels. Using simulation results we show that in the presence of wireless faults, standard best- effort protocols will cause application errors unpredictably, but a mixed-criticality wireless protocol can maintain important tasks at the cost of less important ones for longer.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This is an author-produced version of the published paper. Uploaded in accordance with the publisher’s self-archiving policy. Further copying may not be permitted; contact the publisher for details. |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Computer Science (York) |
Depositing User: | Pure (York) |
Date Deposited: | 20 Oct 2023 14:20 |
Last Modified: | 25 Jan 2025 00:04 |
Status: | Published |
Publisher: | WMC |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:204460 |