Abstract
We have designed and built a set of miniature robots and developed a distributed software system to control them. We present experimental results on a surveillance task in which multiple robots patrol an area and watch for motion. We discuss how the limited communication bandwidth affects robot performance in accomplishing the task and analyze how performance depends on the number of robots that share the bandwidth.
Material based upon work supported in part by the DARPA/MTO Office, ARPA Order No. G155, Program Code No. 8H20, issued by DARPA/CMD under Contract #MDA972-98-C-0008. Parts of this paper were presented at SPIE 2001, Sensor Fusion and Decentralized Control in Robotic Systems IV, October 2001.
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Rybski, P., Stoeter, S., Gini, M., Hougen, D., Papanikolopoulos, N. (2002). Performance of a Distributed Robotic System Using Shared Communication Channels. In: Beetz, M., Hertzberg, J., Ghallab, M., Pollack, M.E. (eds) Advances in Plan-Based Control of Robotic Agents. Lecture Notes in Computer Science(), vol 2466. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-37724-7_13
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DOI: https://doi.org/10.1007/3-540-37724-7_13
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