Adaptive communication in multi-robot systems using directionality of signal strength
We consider the problem of satisfying communication demands in a multi-agent system where several robots cooperate on a task and a fixed subset of the agents act as mobile routers. Our goal is to position the team of robotic routers to provide communication coverage to the remaining client robots. W...
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| Format: | Article |
| Language: | en_US |
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Sage Publications
2015
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| Online Access: | http://hdl.handle.net/1721.1/100520 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0003-4071-4932 https://orcid.org/0000-0002-3964-2049 https://orcid.org/0000-0003-4854-4157 |
| _version_ | 1811096968083013632 |
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| author | Gil, Stephanie Suresh Kumar, Swarun Katabi, Dina Rus, Daniela L. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Gil, Stephanie Suresh Kumar, Swarun Katabi, Dina Rus, Daniela L. |
| author_sort | Gil, Stephanie |
| collection | MIT |
| description | We consider the problem of satisfying communication demands in a multi-agent system where several robots cooperate on a task and a fixed subset of the agents act as mobile routers. Our goal is to position the team of robotic routers to provide communication coverage to the remaining client robots. We allow for dynamic environments and variable client demands, thus necessitating an adaptive solution. We present an innovative method that calculates a mapping between a robot’s current position and the signal strength that it receives along each spatial direction, for its wireless links to every other robot. We show that this information can be used to design a simple positional controller that retains a quadratic structure, while adapting to wireless signals in real-world environments. Notably, our approach does not necessitate stochastic sampling along directions that are counter-productive to the overall coordination goal, nor does it require exact client positions, or a known map of the environment. |
| first_indexed | 2024-09-23T16:52:14Z |
| format | Article |
| id | mit-1721.1/100520 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:52:14Z |
| publishDate | 2015 |
| publisher | Sage Publications |
| record_format | dspace |
| spelling | mit-1721.1/1005202022-09-29T22:03:11Z Adaptive communication in multi-robot systems using directionality of signal strength Gil, Stephanie Suresh Kumar, Swarun Katabi, Dina Rus, Daniela L. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Gil, Stephanie Suresh Kumar, Swarun Katabi, Dina Rus, Daniela L. We consider the problem of satisfying communication demands in a multi-agent system where several robots cooperate on a task and a fixed subset of the agents act as mobile routers. Our goal is to position the team of robotic routers to provide communication coverage to the remaining client robots. We allow for dynamic environments and variable client demands, thus necessitating an adaptive solution. We present an innovative method that calculates a mapping between a robot’s current position and the signal strength that it receives along each spatial direction, for its wireless links to every other robot. We show that this information can be used to design a simple positional controller that retains a quadratic structure, while adapting to wireless signals in real-world environments. Notably, our approach does not necessitate stochastic sampling along directions that are counter-productive to the overall coordination goal, nor does it require exact client positions, or a known map of the environment. Lincoln Laboratory Micro Autonomous Consortium Systems and Technology (ARL Grant W911NF-08-2-0004) 2015-12-28T00:59:50Z 2015-12-28T00:59:50Z 2015-05 Article http://purl.org/eprint/type/JournalArticle 0278-3649 1741-3176 http://hdl.handle.net/1721.1/100520 Gil, S., S. Kumar, D. Katabi, and D. Rus. “Adaptive Communication in Multi-Robot Systems Using Directionality of Signal Strength.” The International Journal of Robotics Research 34, no. 7 (May 18, 2015): 946–968. https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0003-4071-4932 https://orcid.org/0000-0002-3964-2049 https://orcid.org/0000-0003-4854-4157 en_US http://dx.doi.org/10.1177/0278364914567793 The International Journal of Robotics Research Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Sage Publications MIT web domain |
| spellingShingle | Gil, Stephanie Suresh Kumar, Swarun Katabi, Dina Rus, Daniela L. Adaptive communication in multi-robot systems using directionality of signal strength |
| title | Adaptive communication in multi-robot systems using directionality of signal strength |
| title_full | Adaptive communication in multi-robot systems using directionality of signal strength |
| title_fullStr | Adaptive communication in multi-robot systems using directionality of signal strength |
| title_full_unstemmed | Adaptive communication in multi-robot systems using directionality of signal strength |
| title_short | Adaptive communication in multi-robot systems using directionality of signal strength |
| title_sort | adaptive communication in multi robot systems using directionality of signal strength |
| url | http://hdl.handle.net/1721.1/100520 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0003-4071-4932 https://orcid.org/0000-0002-3964-2049 https://orcid.org/0000-0003-4854-4157 |
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