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Throughput Optimisation in Ad Hoc Networks of Communication-Aware Mobile Robots

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Intelligent Autonomous Systems 13

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

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Abstract

We study throughput optimisation of ad hoc networks of communication-aware mobile robots. The mobile robots equipped with sensing and communication capacities can maintain connectivities and estimate the quality of communication links with their neighbouring peers. The mobile robots self-organise a wireless ad hoc network for transmitting environment exploited data from sources to destinations. Graph-based network model and artificial potential force-based connectivity maintenance are integrated in different ways for the control design of mobile robots. We consider throughput optimisation in twofold: (1) routing-aware optimisation and (2) routing-unaware optimisation. The Monte Carlo simulation results are comparatively analysed and discussed according to the performance metrics.

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Acknowledgments

This research was supported in part by the University Research Grant at the University of Brunei Darrusalam (UBD/PNC2/2/RG/1(259)).

      We sincerely thank anonymous reviewers for their value comments.

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Authors and Affiliations

  1. University of Brunei Darussalam, The More Than One Robotics Laboratory, Gadong, Brunei

    Trung Dung Ngo

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  1. Trung Dung Ngo
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Correspondence to Trung Dung Ngo .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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© 2016 Springer International Publishing Switzerland

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Ngo, T.D. (2016). Throughput Optimisation in Ad Hoc Networks of Communication-Aware Mobile Robots. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_40

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_40

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

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