ANCHOR - Self-Configuring Robotic Network
A challenging task for a robotic radio network is to establish the connectivity among a set of entities (humans or radio nodes) in an unknown environment with minimum number of robots. The main difficulty is that the locations of the entities and the radio connectivities between the physical locations are not known in advance. We represent the problem by a topological graph of locations with known access links but unknown radio links and develop a novel ANCHOR algorithm for a set of autonomous robots to discover radio links dynamically and self-organize a radio network to connect the given entities with the least number of robots. We show in simulation analysis the algorithm scale near-linearly with maximum number of connected hops away from the terminals. Experiment also shows performance improvement with increasing number of robots.
Harris Chi Ho Chiu Wei-Min Shen
Information Sciences Institute,The University of Southern California,Los Angeles,U.S.A
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5375-5380
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）