Evaluating Control Strategies for Wireless-Networked Robots Using an Integrated Robot and Network Simulation

Wei Ye, Richard T. Vaughyan, Gaurav S. Sukhatme, John Heidemann, Deborah Estrin, and Maja J. Matari{\'c}
USC/Information Sciences Institute

Abstract

Wireless communication is an enabling factor in multiple mobile robot systems. There is signi cant interaction between robot controllers and communications sub-systems. We present a method for evaluating combined robot control/communication strategies for a team of wireless-networked robots performing a resource transportation task. Two alternative controller designs are compared under established communication and radio propagation models. For each we measure the over-all performance of the robot team including the cost of communication. The study illustrates how our evaluation tools can be used for designing controllers for robots operating in wireless communication environments.

Availability

This paper is available in several formats: abstract web page with pointers and cites, gzip'ed postscript, PDF, paper copies can be obtained by mail to the authors. Copyright terms for this paper appear below.

Reference

Ye01a

Wei Ye, Richard T. Vaughyan, Gaurav S. Sukhatme, John Heidemann, Deborah Estrin, and Maja J. Matari{\'c}. Evaluating Control Strategies for Wireless-Networked Robots Using an Integrated Robot and Network Simulation. In Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2941-2947. Seoul, Korea, USC/Information Sciences Institute, IEEE. May, 2001. <http://www.isi.edu/~johnh/PAPERS/Ye01a.html>.

@inproceedings{Ye01a,
	author = "Wei Ye and Richard T. Vaughyan and Gaurav
	 S. Sukhatme and John Heidemann and Deborah
	 Estrin and Maja J. Matari{\'c}",
	title = "Evaluating Control Strategies for
                   Wireless-Networked Robots Using an Integrated
                         Robot and Network Simulation",
	booktitle = "Proceedings of the  IEEE International Conference on Robotics and Automation",
	year = "2001",
	publisher = "{IEEE}",
	address = "Seoul, Korea",
	month = "May",
	pages = "2941--2947",
	keywords = "networking and robotics, ns-2, arena, player/stage",
	copyright = "
	Personal use of this material is permitted.  However,
	permission to reprint/republish this material for advertising
	or promotional purposes or for creating new collective works
        for resale or redistribution to servers or lists,
	or to reuse any copyrighted component of this work in other works
	must be obtained from the IEEE.
",
	organization = "USC/Information Sciences Institute",
	url = "http://www.isi.edu/~johnh/PAPERS/Ye01a.html",
	psurl = "http://www.isi.edu/~johnh/PAPERS/Ye01a.ps.gz",
	pdfurl = "http://www.isi.edu/~johnh/PAPERS/Ye01a.pdf",
}

Copyright

This paper is copyright © 2001 by its authors. Permission to make digital or hard copies of part or all of this work for personal use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that new copies bear this notice and the full citation on the first page. Abstracting with credit is permitted.

To copy otherwise, to republish, to post on servers or to redistribute to lists, requires prior specific permission of the authors.