5th International ICST Conference on Testbeds and Research Infrastructures for the Development of Networks and Communities

Research Article

Low-cost Wireless Mobile Ad-Hoc Network Robotic Testbed

  • @INPROCEEDINGS{10.1109/TRIDENTCOM.2009.4976222,
        author={Christopher G. Wilson and Thaddeus Roppel},
        title={Low-cost Wireless Mobile Ad-Hoc Network Robotic Testbed},
        proceedings={5th International ICST Conference on Testbeds and  Research Infrastructures for the Development of Networks and Communities},
        publisher={IEEE},
        proceedings_a={TRIDENTCOM},
        year={2009},
        month={5},
        keywords={},
        doi={10.1109/TRIDENTCOM.2009.4976222}
    }
    
  • Christopher G. Wilson
    Thaddeus Roppel
    Year: 2009
    Low-cost Wireless Mobile Ad-Hoc Network Robotic Testbed
    TRIDENTCOM
    IEEE
    DOI: 10.1109/TRIDENTCOM.2009.4976222
Christopher G. Wilson1,*, Thaddeus Roppel1,*
  • 1: Electrical and Computer Engineering Department, Auburn University, AL 36849-5201, USA Phone: (334) 844-1814, Fax: (334) 844-1809
*Contact email: wilsoc5@auburn.edu, roppeth@auburn.edu

Abstract

Collaborating mobile robots equipped with WiFi transceivers are configured as a mobile ad-hoc network. Algorithms are developed to take advantage of the distributed processing capability inherent to multi-agent systems. The focus of this study will be to determine the optimal amount of communication which allows the robots to share a sufficiently detailed global map, while keeping their processing time and energy usage to a minimum. A hardware testbed is described, which will be used to examine these trade-offs in an indoor laboratory-scale test area. Single robot test results are presented.