Wireless Control of Mobile Robot Squad with Link Failure

Mikael Pohjola; Shekar Nethi; Riku Jantti

1st Workshop on Wireless Multihop Communications in Networked Robotics

Research Article

Wireless Control of Mobile Robot Squad with Link Failure

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Cite: BibTeX Plain Text

@INPROCEEDINGS{10.4108/ICST.WIOPT2008.3126,
    author={Mikael Pohjola and Shekar Nethi and Riku Jantti},
    title={Wireless Control of Mobile Robot Squad with Link Failure},
    proceedings={1st Workshop on Wireless Multihop Communications in Networked Robotics},
    publisher={IEEE},
    proceedings_a={WMCNR},
    year={2008},
    month={8},
    keywords={wireless multihop mobile robot dynamic position link break priorization rerouting},
    doi={10.4108/ICST.WIOPT2008.3126}
}

Mikael Pohjola
Shekar Nethi
Riku Jantti
Year: 2008
Wireless Control of Mobile Robot Squad with Link Failure
WMCNR
IEEE
DOI: 10.4108/ICST.WIOPT2008.3126

Mikael Pohjola¹^,*, Shekar Nethi²^,*, Riku Jantti²^,*

1: Department of Automation and Systems Technology, Helsinki University of Technology, Espoo, Finland.
2: Department of Communications and Networking, Helsinki University of Technology, Espoo, Finland.

*Contact email: mikael.pohjola@tkk.fi, shekar.nethi@tkk.fi, riku.jantti@tkk.fi

Abstract

This paper deals with control during breaking communications. We specifically examine the breaks of communication due to mobility in a wireless multihop robot control system. We compare the applicability of singlepath and multipath routing protocols without and with priorization for control of mobile robots. We investigate the performance and recovery of a wireless network with high mobility. The issue is also looked at from the control point, where two packet-loss-robust control methods are employed. The issue of control during link break with long recovery is considered. The matters are demonstrated with a joint control and communication simulator, PiccSIM, as a scenario of a mobile robot squad is demonstrated.

Keywords: wireless multihop mobile robot dynamic position link break priorization rerouting

Published: 2008-08-01
Publisher: IEEE
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.WIOPT2008.3126