Towards Autonomous Wireless Backbone Deployment in Highly-Obstructed Environments
In a setting that lacks infrastructure e.g., urban search and rescue, a team of networked mobile robots can provide a communication substrate by acting as routers in a wireless mesh network. We study the problem of determining the minimum number of robots, and how to position them, so that all clients using the resulting robotic network are connected and all network links satisfy minimum rate requirements. The key challenge we address is that in an environment with obstacles the strength of a wireless link is a non-monotonic function of the distance between the link end-points. Our approach to the problem is based on virtual potential fields. Clients and environmental obstacles are modeled as virtual charged particles exerting virtual forces on the robots. We validate our algorithm with physical robots in an indoor environment and demonstrate that we are able to get feasible solutions.
Marcos A. M. Vieira Ramesh Govindan Gaurav S. Sukhatme
Universidade Federal de Minas Gerais,Belo Horizonte- MG,Brasil Department of Computer Science,University of Southern California,Los Angeles,CA,USA
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
5369-5374
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）