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1st Workshop on Wireless Multihop Communications in Networked Robotics

Research Article

Wireless Control of Mobile Robot Squad with Link Failure

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  • @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
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